Regular inspection is indispensable during the operation period of existing buildings. However, the current approaches involve a high number of manual operations and are by large limited to the inspection of visible elements. Autonomous wall-climbing robot with through-wall imaging module to perform visual inspection of concealed components has the potential to overcome these problems. Towards this goal, this paper reports on a survey on different adhesion and locomotion technologies for wall-climbing robots. Doing so, we qualitatively evaluated available adhesion and locomotion approaches based on seven criteria: reliability, simplicity, payload capacity, velocity and continuity, transition dexterity, steering ability, and obstacleovercoming ability. Finally, according to the prioritized requirements for indoor building inspection, pneumatic adhesion combining wheel-driven movement outperforms other combinations, which is applied to the prototype of the proposed indoor wall-climbing robot.