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The submarine oil pipeline has many advantages, such as large oil transportation capacity, and being fast and economical. However, long-term laid submarine oil pipelines are affected by reciprocating load of water flow, subsidence caused by soil liquefaction, ship anchorage operation, etc. In severe cases, it causes overall distortion of a small section of the submarine pipeline, profoundly affecting the safety of the submarine pipeline, which is a significant safety hazard for the health of the marine environment and potentially impacting social and economic benefits. Taking the Cezi-Zhenhai submarine pipeline in the sea area between Ningbo and Zhoushan as an example, many deformation defects in the pipeline have been found through internal inspection, and there is a trend of further deterioration. However, the existing external detection of submarine pipeline deformation can only collect limited data through mechanical dots for rough inversion. This does not meet the accuracy requirements of repairing existing submarine pipeline clamps. Therefore, we propose a real-time visualization surveying and mapping system for the submarine pipeline based on a 3-D laser and a separately designed electronic control system. Our research team performed actual mapping work for the Cezi-Zhenhai submarine pipeline and achieved an excellent mapping control effect. A steady monitoring image and good control effect of moving parts are obtained, and the data obtained by 3-D laser processing perfectly represent the actual state of the submarine pipeline. Predictably, the large-scale application of this system will provide a solid technical guarantee for the health of submarine pipelines. [ABSTRACT FROM AUTHOR]