Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding

Peng Zhou, Rui Peng, Xinrui Xu, Victor W.H. Wu, David Navarro-Alarcon

Research output: Journal article publicationJournal articleAcademic researchpeer-review

18 Citations (Scopus)


This letter presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point algorithm. Then, a bilateral filter is extended to denoise the workpiece model and preserve important geometrical information. To extract the welding seam from the model, a novel intensity-based algorithm is proposed that detects edge points and generates a smooth 6-DOF welding path. The methods are tested on multiple workpieces with different joint types and poses. Experimental results prove the robustness and efficiency of this robotic system on automatic path planning for welding applications.

Original languageEnglish
Article number9394722
Pages (from-to)5002-5009
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number3
Publication statusPublished - Jul 2021


  • Industrial robots
  • RGB-D perception
  • motion and path planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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