Efficient Weld Seam Detection for Robotic Welding from a Single Image

摘要

The weld seam recognition is a key technology in robotic welding. This paper presents an efficient algorithm of weld seam detection for butt joint welding from a single image. The basic idea of our approach is to find a pair of weld seam edges in the local area first. Then, starting from the two endpoints of each edge, search for the remnant edge by iterative edge detection and edge linking. This method is insensitive to the variance of the background image and can apply to most type of weld seams in butt joint welding. Experimental results on several type of weld seam images are shown.