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Pietersen's wicket was the major talking point on the opening day of the second Test as tourists reached 258 for five at stumps, on Sunday.
Vaughan advocated the need to utilise technology to avoid
making controversial decisions.
"It's a tough one, because I really do think common sense should prevail in circumstances like this. You've got the technology, you're allowed to use it. It's very difficult to be 100 per cent sure that catches carry," Vaughan told a British TV channel according to a Herald Sun report on Monday.
Pietersen edged a drive off Chaminda Vaas as Chamara Silva scooped up the ball narrowly above the turf. It squeezed out of Silva's fingers after juggle and was seized by Kumar Sangakkara, fielding at first slip.
Australian umpire Daryl Harper consulted the square-leg umpire Aleem Dar before raising his finger. However, the replay on the TV screen suggested the ball had touched the grass.
The English skipper referred to a past incident, involving Pietersen, when umpires had overturned their decision after watching the replay on the TV-screen.
"We had a similar instance at Lord's last year when Kevin got given out and they saw the screen and changed their opinion and Kevin was allowed back into play," he said.