In this paper, we introduce an internal pipeline exploration of an in-pipe robot, based on the landmark recognition system. The fittings of pipelines such as elbows and branches are used as the landmarks. The robot recognizes the landmarks with a vision system by using the shadows of the elements, which are generated by the specially designed illuminator on the robot. By using a simple image-processing, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, all information for exploration is continuously recorded and used to reconstruct the map of the pipelines. The effectiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for moving inside of the miniature urban 8-inch gas pipeline structure.