{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T14:32:36Z","timestamp":1777473156584,"version":"3.51.4"},"reference-count":20,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2017,8,21]],"date-time":"2017-08-21T00:00:00Z","timestamp":1503273600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2017,8,21]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to propose a set of six-axis robot arm welding seam tracking experiment platform based on Halcon machine vision library to resolve the curve seam tracking issue.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>Robot-based and image coordinate systems are converted based on the mathematical model of the three-dimensional measurement of structured light vision and conversion relations between robot-based and camera coordinate systems. An object tracking algorithm via weighted local cosine similarity is adopted to detect the seam feature points to prevent effectively the interference from arc and spatter. This algorithm models the target state variable and corresponding observation vector within the Bayes framework and finds the optimal region with highest similarity to the image-selected modules using cosine similarity.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The paper tests the approach and the experimental results show that using metal inert-gas (MIG) welding with maximum welding current of 200A can achieve real-time accurate curve seam tracking under strong arc light and splash. Minimal distance between laser stripe and welding molten pool can reach 15 mm, and sensor sampling frequency can reach 50 Hz.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>Designing a set of six-axis robot arm welding seam tracking experiment platform with a system of structured light sensor based on Halcon machine vision library; and adding an object tracking algorithm to seam tracking system to detect image feature points. By this technology, this system can track the curve seam while welding.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2016-0294","type":"journal-article","created":{"date-parts":[[2017,7,5]],"date-time":"2017-07-05T12:20:48Z","timestamp":1499257248000},"page":"609-617","source":"Crossref","is-referenced-by-count":14,"title":["Seam tracking investigation via striped line laser sensor"],"prefix":"10.1108","volume":"44","author":[{"given":"Yanbiao","family":"Zou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinchao","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiangzhi","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"2","key":"key2020120610543118800_ref001","doi-asserted-by":"crossref","first-page":"174","DOI":"10.1109\/78.978374","article-title":"A tutorial on particle filters for online nonlinear\/non-gaussian bayesian tracking","volume":"50","year":"2002","journal-title":"IEEE Transactions on Signal Processing"},{"issue":"5","key":"key2020120610543118800_ref021","doi-asserted-by":"crossref","first-page":"1916","DOI":"10.1109\/TCST.2012.2219861","article-title":"Kalman filtering compensated by radial basis function neural network for seam tracking of laser welding","volume":"21","year":"2013","journal-title":"IEEE Transactions on Control Systems Technology"},{"issue":"2","key":"key2020120610543118800_ref002","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1049\/ip-f-2.1993.0015","article-title":"Novel approach to nonlinear\/non-Gaussian Bayesian state estimation","volume":"140","year":"1993","journal-title":"Radar & Signal Processing Iee Proceedings F"},{"key":"key2020120610543118800_ref003","first-page":"1981","article-title":"Multi hypotheses based object tracking in HCI environments","year":"2012"},{"key":"key2020120610543118800_ref004","first-page":"263","article-title":"Struck: structured output tracking with kernels","year":"2011"},{"issue":"7","key":"key2020120610543118800_ref005","doi-asserted-by":"crossref","first-page":"1409","DOI":"10.1109\/TPAMI.2011.239","article-title":"Tracking-learning-detection","volume":"34","year":"2012","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"issue":"4","key":"key2020120610543118800_ref006","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1016\/0005-1098(83)90049-3","article-title":"Tracking control system using image sensor for arc welding","volume":"19","year":"1983","journal-title":"Automation"},{"key":"key2020120610543118800_ref007","first-page":"363","article-title":"A robust method for vision-based seam tracking in robotic arc welding","year":"1995"},{"issue":"20","key":"key2020120610543118800_ref008","first-page":"90","article-title":"Accuracy of photometry with CCD-sensors","volume":"45","year":"1990","journal-title":"ISPRS Journal of Photogrammetry and Remote Sensing"},{"key":"key2020120610543118800_ref009","first-page":"1313","article-title":"Robust tracking using local sparse appearance model and K-selection","year":"2011"},{"key":"key2020120610543118800_ref010","first-page":"123","article-title":"The use of multi-stage sampling schemes in Monte Carlo computations","year":"1954"},{"issue":"4","key":"key2020120610543118800_ref011","doi-asserted-by":"crossref","first-page":"1094","DOI":"10.1109\/7.624345","article-title":"A jerk model for tracking highly maneuvering targets","volume":"33","year":"1997","journal-title":"IEEE Transactions on Aerospace & Electronic Systems"},{"key":"key2020120610543118800_ref012","volume-title":"Introduction to Data Mining","year":"2005"},{"issue":"6","key":"key2020120610543118800_ref013","doi-asserted-by":"crossref","first-page":"789","DOI":"10.1109\/TMI.2008.916964","article-title":"Particle filtering for multiple object tracking in dynamic fluorescence microscopy images: application to microtubule growth analysis","volume":"27","year":"2008","journal-title":"IEEE Transactions on Medical Imaging"},{"issue":"9","key":"key2020120610543118800_ref014","first-page":"1838","article-title":"Visual tracking via weighted local cosine similarity","volume":"45","year":"2014","journal-title":"IEEE Transactions on Cybernetics"},{"key":"key2020120610543118800_ref015","first-page":"85","article-title":"Weld bead placement system for multipass welding [using transputer-based laser triangulation vision system]","volume-title":"IEE Proceedings - 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