Main objective of this study was to demonstrate endoscopic visualization of combustion events in the combustion chamber of a production grade compression ignition (CI) engine. High speed endoscopic imaging was used to provide qualitative information about the in-cylinder combustion for mineral diesel and biodiesel fueled engine operating at different engine loads. These images were analyzed using image processing program developed in MATLAB, in order to determine the 'start of combustion' (SoC), 'spatial soot distribution' and 'spatial flame temperature distribution'. In-cylinder pressure and rate of heat release (RoHR) were validated using simulation results obtained by using a KIVA-3V code. The luminosity of flames in the combustion images was relatively lower for biodiesel compared to baseline diesel. Area of soot distribution decreased in later stages of combustion for both test fuels, which indicated superior oxidation of soot particles formed, during the post combustion events. Biodiesel showed relatively lower dissipation of heat, which caused lower soot radiations in the flames. Simulated soot distribution and flame temperature distribution obtained from KIVA-3V code also showed similar behavior and verified the trends observed by combustion chamber endoscopy. (C) 2016 Elsevier Ltd. All rights reserved.