Sergio Rolando Cruz-Ramirez Yasushi Mae Tomohito Takubo Tatsuo Arai Detection of screws on metal-ceiling structures for dismantling tasks in buildings. 4123-4129 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650975 conf/iros/2008 db/conf/iros/iros2008.html#Cruz-RamirezMTA08