how to do visual servoing based on 2 laser lines?

I have a pipe inspection robot which projects 2 laser lines inside the pipe. my goal is to make the distance between these two laser lines (on the image plane) to be constant to always make sure that the robot is in the middle of the pipe. What I have as an image are two laser lines in which the rate of change of distance between two laser lines varies. I have a doubt about how can I implement image-based visual servoing for this system since there is no object outside.

My question is: is it really feasible to do IBVS and model-predictive IBVS for this system?

are there any other techniques that I can use?

submitted by /u/niki_niki123
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