A video camera system for use in internal pipe inspection, comprising: a camera head (110, 210, 540, 610) including: an outer housing having a hollow interior; a camera module assembly including: one or more image sensors (211, 810) supported inside the housing for generating video and still image data corresponding to an interior of a pipe, and; one or more non-video sensors for generating non-video data, the one or more non-video sensors including at least an acoustic sensor for generating acoustic data corresponding to acoustic signals sensed inside of the pipe; a processing circuit, operatively coupled to the camera module assembly, configured to receive video data from the image sensors and non-video sensors including at least the acoustic data from the interior of the pipe and to further encode and embed acoustic and other non-video data into the video signal via modulating the video signal during the vertical blanking interval between frames and/or embedding non-video data in alternating lines or portions of alternating lines of an interlaced video signal in pre-defined locations for transmission to a coupled electronic device over a common transmission channel; and a data link receiver circuit to receive program instructions from a camera control unit (180, 280, 550) or other directly or indirectly wired or wirelessly connected computing device to configure or reconfigure camera head software and/or firmware; wherein the video camera system is configured to determine a material of the pipe in post processing based on comparison of a signature of collected acoustic data with a reference signature. an outer housing having a hollow interior; a camera module assembly including: one or more image sensors (211, 810) supported inside the housing for generating video and still image data corresponding to an interior of a pipe, and; one or more non-video sensors for generating non-video data, the one or more non-video sensors including at least an acoustic sensor for generating acoustic data corresponding to acoustic signals sensed inside of the pipe; one or more image sensors (211, 810) supported inside the housing for generating video and still image data corresponding to an interior of a pipe, and; one or more non-video sensors for generating non-video data, the one or more non-video sensors including at least an acoustic sensor for generating acoustic data corresponding to acoustic signals sensed inside of the pipe; a processing circuit, operatively coupled to the camera module assembly, configured to receive video data from the image sensors and non-video sensors including at least the acoustic data from the interior of the pipe and to further encode and embed acoustic and other non-video data into the video signal via modulating the video signal during the vertical blanking interval between frames and/or embedding non-video data in alternating lines or portions of alternating lines of an interlaced video signal in pre-defined locations for transmission to a coupled electronic device over a common transmission channel; and a data link receiver circuit to receive program instructions from a camera control unit (180, 280, 550) or other directly or indirectly wired or wirelessly connected computing device to configure or reconfigure camera head software and/or firmware; wherein the video camera system is configured to determine a material of the pipe in post processing based on comparison of a signature of collected acoustic data with a reference signature.