2026
Real-Time Seam Tracking for Robotic Welding Via Registration-Based Deformation Estimation
Surag Balajepalli, Amrish Baskaran, Naik Shounak, Christopher Eubel, Abolfazl Meyarian, Andong Dai +3
ICRA 2026poster
Arc welding induces thermal deformation that continuously displaces the seam path during execution, causing the robot to miss the joint on long seams. We present a real-time seam tracking system with three principal contributions: (1) a constrained ICP registration of live leading-laser scans agains…