Visual feature extraction and tracking control for narrow seam in three dimension space

An algorithm on adaptive visual features extraction for three dimension micro narrow weld seam is proposed. And the reliable extraction of the seam is realized. Then a morphological profile recognition method and fast straight line fitting method are proposed to robustly extract the skeleton of structured light stripe. Furthermore, the orthogonal characteristics of the weld features and the structure light skeleton is utilized to complete the decoupling calibration. Thus, the high precision position on three-dimensional Cartesian space is reached by only using two-dimensional information in image space. Finally, satisfactory results are obtained.