Wajahat Kazmi Pere Ridao David Ribas Emili Hernández Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar. 3595-3600 2009 ICRA http://dx.doi.org/10.1109/ROBOT.2009.5152691 conf/icra/2009 db/conf/icra/icra2009.html#KazmiRRH09