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Vision-Based Hierarchical Recognition for Dismantling Robot..:

Cruz-Ramírez, S. Rolando ; Mae, Yasushi ; Arai, Tatsuo..
Computer-Aided Civil and Infrastructure Engineering.  26 (2010)  5 - p. 336-355 , 2010
Link: https://doi.org/10.1111/j.1467-8667.2010.00689.x