Siyao Fu Weiming Li Yun-Chu Zhang Zi-ze Liang Zeng-Guang Hou Min Tan Wenbo Ye Lian Bo Qi Zuo Structure-Constrained Obstacles Recognition for Power Transmission Line Inspection Robot. 3363-3368 2006 IROS http://dx.doi.org/10.1109/IROS.2006.282513 conf/iros/2006 db/conf/iros/iros2006.html#FuLZLHTYBZ06