Line structured light skeleton extraction and burr removal method for welding seam tracking

The invention relates to a line structured light skeleton extraction and burr removal method for weld seam tracking. The method comprises the following steps: creating a pyramid for a line structured light image; extracting a line structured light skeleton from the pyramid top image; repeatedly applying the two steps of image up-sampling and skeleton extraction, and preliminarily obtaining a weld image line structure light skeleton; searching from the first column and the last column of the refined weld seam image to the middle of the image to find two endpoints, namely a skeleton starting point and a skeleton ending point; searching forward from the starting point along the skeleton to find out all branches; forward searching along the branches to determine end points and branch points of the branches; tracking forwards from branch end points along a branch skeleton, stopping searching when encountering branch points, removing branches, and obtaining a clear and accurate line structure light skeleton image.