“…Since 2000, a great deal of research has been carried out in target recognition, positioning and attitude estimation (Feng and Zhang, 2021; Yan et al , 2020; Zhao et al , 2022; Wu et al , 2021; Naceri et al , 2021). The performance of live-line operation robot system has been greatly improved, even as the operation mode develops from pure teleoperation to automatic control (Zhu et al , 2019; Tani et al , 2015; Kato et al , 2016; Ito et al , 2010; Chen et al , 2023).…”