A method of inspecting a lateral pipe extending from a manhole, said method comprising: (a) inserting an imaging head into said manhole using a positioning system, said imaging head connected to an elongated member and comprising an imaging device adapted to convert an image to an image signal, a lens optically coupled to said imaging device, and at least one lamp suitable for projecting a light beam, said lamp having a beam that is adjustable to enable said beam to move relative said imaging device; (b) imaging a target located within said lateral pipe; (c) holding said imaging device essentially steady while imaging said target and adjusting said beam to adjust the illumination of said target.