Desingularization of singular Riemannian foliation

Let F be a singular Riemannian foliation on a compact Riemannian manifold M. By successive blow-ups along the strata of F we construct a regular Riemannian foliation (F) over cap on a compact Riemannian manifold (M) over cap and a desingularization map (rho) over cap : (M) over cap -> M that projects leaves of (F) over cap into leaves of F. This result generalizes a previous result due to Molino for the particular case of a singular Riemannian foliation whose leaves were the closure of leaves of a regular Riemannian foliation. We also prove that, if the leaves of F are compact, then, for each small epsilon > 0, we can find (M) over cap and (F) over cap so that the desingularization map induces an epsilon-isometry between M/F and (M) over cap/(F) over cap. This implies in particular that the space of leaves M/F is a Gromov-Hausdorff limit of a sequence of Riemannian orbifolds {((M) over cap (n)/(F) over cap (n))}.