An elongate component such as a drill string of drill pipes connected by joint sections inside a bore is sensed using at least one set of electromagnetic coils, the coils within the set being arranged at different angular positions around the bore facing the bore. There may be at least two sets of coils separated along the axial direction of the bore. Electrical oscillations are generated in the coils to produce oscillating electromagnetic fields that interact with the contents of the bore. A parameter of the electrical oscillations generated in each coil is detected. The detected parameters may be used to derive both (1) a measure of the axial position along the bore, and (2) a measure of the lateral position. The detected parameters may be used to derive a measure of electromagnetic properties of the contents of the pipe in a region adjacent each coil, thereby imaging the contents of the pipe.