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Poverty alleviation has been a major theme of China's modernization process since the founding of New China. This paper points out that China's poverty alleviation process presents three stylized facts: “Miraculous” achievements of poverty alleviation have been made on a global scale; the poverty alleviation achievements mainly occurred in the high growth stage after reform and opening up; the poverty alleviation process is accompanied by the structural transformation of the urban–rural dual economy.

Therefore, a logically consistent analytical framework should form among the structural transformation of the dual economy, economic growth and the achievements in poverty alleviation. In logical deduction, the structural transformation of the dual economy affects rural poverty alleviation through the effects of labor reallocation, agricultural productivity improvement, demographic change and fiscal resource allocation.

The first two refer to economic growth, and the latter two are alleviation policies. The combination of economic growth and poverty alleviation policies is the main cause for poverty alleviation performance. China's empirical evidence can support the four effects by which the structural transformation of the dual economy affects poverty alleviation.

China's socialist system and its economic system transformation after reform and opening up provide an institutional basis for the effects to come into play. After 2020, China's poverty alleviation strategies will enter the “second-half” phase, namely, the phase of solving the problems of relative poverty in urban and rural areas by adopting conventional methods and establishing long-term mechanisms. This requires the facilitation of the reconnection between poverty alleviation strategies and the structural transformation of the dual economy in terms of development ideas and policy directions.

An accurate detection of overhead ground wire under open surroundings with varying illumination is the premise of reliable line grasping with the off-line arm when the inspection robot cross obstacle automatically. This paper aims to propose an improved approach which is called adaptive homomorphic filter and supervised learning (AHSL) for overhead ground wire detection.

First, to decrease the influence of the varying illumination caused by the open work environment of the inspection robot, the adaptive homomorphic filter is introduced to compensation the changing illumination. Second, to represent ground wire more effectively and to extract more powerful and discriminative information for building a binary classifier, the global and local features fusion method followed by supervised learning method support vector machine is proposed.

Experiment results on two self-built testing data sets A and B which contain relative older ground wires and relative newer ground wire and on the field ground wires show that the use of the adaptive homomorphic filter and global and local feature fusion method can improve the detection accuracy of the ground wire effectively. The result of the proposed method lays a solid foundation for inspection robot grasping the ground wire by visual servo.

This method AHSL has achieved 80.8 per cent detection accuracy on data set A which contains relative older ground wires and 85.3 per cent detection accuracy on data set B which contains relative newer ground wires, and the field experiment shows that the robot can detect the ground wire accurately. The performance achieved by proposed method is the state of the art under open environment with varying illumination.