Depth Information Extraction of Seam Structure based on Visual Method

Weld seam tracking technique was a hot topic of welding automation study. In this paper, depth information extraction of the weld seam was developed based on binocular stereo vision. Firstly, the binocular camera was calibrated. After acquiring the intrinsic and extrinsic parameters of both left and right camera, the acquired sample images were corrected using epipolar constraint method. Then, disparity map was acquired utilizing stereo matching method. Finally, depth information of weld seam was extracted on triangulation method. In the experiments, we compared the binocular stereo vision and line structured light method. The experimental results indicated that the visual information of binocular camera was so rich and can get more 3D shape information of the weldments, which were advantageous to weld large weldments. The measurement accuracy of linear structured light was high.