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Weld pool edge detection for automated control of welding

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2 Author(s)
Brzakovic, D. ; Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA ; Khani, D.T.

A vision system that determines the edges of the weld pool in sequences of gas-tungsten-arc welding images acquired by a coaxial viewing system is described. The vision system uses a transformation that maps the edge of a weld pool into a vertical line. The weld pool edge is detected in the transform domain by using a directional filter, which retains only intensity changes of interest, and a one-dimensional edge detector. The edge of the weld pool, in the physical domain, is determined using the inverse transformation. The transformation uses parameters that are updated when processing a sequence of images, and are initially determined by analyzing the first image frame in the physical domain

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Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 3 )