Water and wastewater utilities face the challenge of maintaining infrastructure that has served for decades. Buried pipeline infrastructure poses accessibility challenges from physical limitations and operational constraints. Consequently, utilities must strategize effectively to plan for potential rehabilitation or replacement initiatives. The optimal approach involves conducting a comprehensive field-based condition assessment, ensuring the availability of up-to-date and precise data for informed decision-making. However, the logistics of gathering condition data can be challenging, impacting the pipeline condition assessment cost.