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Pseudo-color measuring of the infrared radiation from molten pool is used to gather information the seam position and on the welding penetration. Characteristics are detected using color-sensing devices. Test results from both thermal simulation and robotic arc welding are regular and reproducible. The pseudo-color values were found to be directly relative to the seam position and welding penetration, therefore, they could be used for monitoring welding penetration and for seam tracking.