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Visual sensing in arc welding has become more and more important. However, it has remained a challenging problem due to the harsh environment, especially the interference of the extremely strong arc light. A typical industrial solution for seam detection is to use laser scanner which however still suffers from several limitations. Solutions for weld pool sensing mostly rely on high speed cameras and powerful external illuminations and therefore the wide use in industrial environments isdoi:10.1109/coase.2015.7294109 dblp:conf/case/LiuFOCK15 fatcat:37aoqiwtezbrxjkxrtf2v2cd4e