A Detection Framework for Weld Seam Profiles Based on Visual Saliency

To guide the accurate shift of welding robots in welding processes in real time, a newly designed visual sensor based on structure light is positioned on the torch in the robotic welding system. Through the sensor, one weld seam image includes the information of weld pools, laser stripe as well as the strong arc glare simultaneously. In order to accomplish the guiding task, a novel framework based on visual saliency is presented to detect the weld seam profile. Considerable image-processing experiments demonstrate the proposed framework is effective even in the background of lots of disturbances of fume, spatter and arc glare.

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