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The inspection of weld seam is important for high quality of welding. This paper deals with the issue of visual measurement and inspection of weld bead and defect detection in multilayer welding. An inspection system based on laser structured light vision has been developed for weld bead profile monitoring, measuring and defect detection with scale calibration. Image processing and extraction algorithms of the laser profiles and feature points are presented. Then dimensional parameters are measured and weld defects are detected in the process of multilayer welding. Experiments were conducted with our visual inspection system using structured light.