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We propose a new method of radar imaging of underground pipes in inhomogeneous soil, which does not require a priori knowledge of the propagation velocity of electromagnetic waves in soil. In this method, three-dimensional xt -v data matrix from multiple migrated radar images with different propagation velocities using F-K migration method is composed. And we extract the hyperbolic apex and estimate the propagation velocity of each hyperbola, using the x -t -v data matrix. By interpolatingdblp:conf/mva/FujimuraKH96 fatcat:ffxufoatyrbsnjrtn4cllrwqbi