{"id":"https://openalex.org/W2096544126","doi":"https://doi.org/10.1109/iros.2009.5354390","title":"Using active contour models for feature extraction in camera-based seam tracking of arc welding","display_name":"Using active contour models for feature extraction in camera-based seam tracking of arc welding","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2096544126","doi":"https://doi.org/10.1109/iros.2009.5354390","mag":"2096544126"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orbit.dtu.dk/en/publications/dd48135b-1466-4d30-b83b-6d4cc24e0a02","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003656563","display_name":"J. Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087957","display_name":"FORCE Technology (Denmark)","ror":"https://ror.org/006rhxn50","country_code":"DK","type":"company","lineage":["https://openalex.org/I4210087957"]},{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"J. Liu","raw_affiliation_strings":["Department of Management Engineering, Technical University of Denmark, Lyngby, Denmark","Force Technology, Broendby, Denmark"],"affiliations":[{"raw_affiliation_string":"Department of Management Engineering, Technical University of Denmark, Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]},{"raw_affiliation_string":"Force Technology, Broendby, Denmark","institution_ids":["https://openalex.org/I4210087957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043499959","display_name":"Zhun Fan","orcid":"https://orcid.org/0000-0002-4232-8229"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Z. Fan","raw_affiliation_strings":["Department of Management Engineering, Technical University of Denmark, Lyngby, Denmark"],"affiliations":[{"raw_affiliation_string":"Department of Management Engineering, Technical University of Denmark, Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086277019","display_name":"S\u00f8ren Ingvor Olsen","orcid":"https://orcid.org/0000-0002-4466-1914"},"institutions":[{"id":"https://openalex.org/I124055696","display_name":"University of Copenhagen","ror":"https://ror.org/035b05819","country_code":"DK","type":"education","lineage":["https://openalex.org/I124055696"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"S. Olsen","raw_affiliation_strings":["Department of Computer Science, University of Copenhagen, Copenhagen, Denmark"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Copenhagen, Copenhagen, Denmark","institution_ids":["https://openalex.org/I124055696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075217122","display_name":"Kim Hardam Christensen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087957","display_name":"FORCE Technology (Denmark)","ror":"https://ror.org/006rhxn50","country_code":"DK","type":"company","lineage":["https://openalex.org/I4210087957"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"K. Christensen","raw_affiliation_strings":["Division of Welding & Production Innovation, FORCE Technology, Broendby, Denmark"],"affiliations":[{"raw_affiliation_string":"Division of Welding & Production Innovation, FORCE Technology, Broendby, Denmark","institution_ids":["https://openalex.org/I4210087957"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113778679","display_name":"Jens Kl\u00e6strup Kristensen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087957","display_name":"FORCE Technology (Denmark)","ror":"https://ror.org/006rhxn50","country_code":"DK","type":"company","lineage":["https://openalex.org/I4210087957"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"J. Kristensen","raw_affiliation_strings":["Division of Welding & Production Innovation, FORCE Technology, Broendby, Denmark"],"affiliations":[{"raw_affiliation_string":"Division of Welding & Production Innovation, FORCE Technology, Broendby, Denmark","institution_ids":["https://openalex.org/I4210087957"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5003656563"],"corresponding_institution_ids":["https://openalex.org/I4210087957","https://openalex.org/I96673099"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.18393068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5948","last_page":"5955"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10834","display_name":"Welding Techniques and Residual Stresses","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10834","display_name":"Welding Techniques and Residual Stresses","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/groove","display_name":"Groove (engineering)","score":0.8266840577125549},{"id":"https://openalex.org/keywords/arc-lamp","display_name":"Arc lamp","score":0.7515760660171509},{"id":"https://openalex.org/keywords/welding","display_name":"Welding","score":0.6520596742630005},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.630798876285553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5657802820205688},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.5479850172996521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5252646803855896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4486607611179352},{"id":"https://openalex.org/keywords/arc-welding","display_name":"Arc welding","score":0.4334699213504791},{"id":"https://openalex.org/keywords/robot-welding","display_name":"Robot welding","score":0.4294562339782715},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.414877325296402},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41404807567596436},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.4102884829044342},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3242172300815582},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.301949679851532},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.23456910252571106},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16248652338981628},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0973145067691803},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08903762698173523}],"concepts":[{"id":"https://openalex.org/C2779472054","wikidata":"https://www.wikidata.org/wiki/Q2377973","display_name":"Groove (engineering)","level":2,"score":0.8266840577125549},{"id":"https://openalex.org/C4606981","wikidata":"https://www.wikidata.org/wiki/Q841282","display_name":"Arc lamp","level":2,"score":0.7515760660171509},{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"score":0.6520596742630005},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.630798876285553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5657802820205688},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.5479850172996521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5252646803855896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4486607611179352},{"id":"https://openalex.org/C20480867","wikidata":"https://www.wikidata.org/wiki/Q422937","display_name":"Arc welding","level":3,"score":0.4334699213504791},{"id":"https://openalex.org/C118198166","wikidata":"https://www.wikidata.org/wiki/Q2327264","display_name":"Robot welding","level":3,"score":0.4294562339782715},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.414877325296402},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41404807567596436},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.4102884829044342},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3242172300815582},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.301949679851532},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.23456910252571106},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16248652338981628},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0973145067691803},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08903762698173523},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2009.5354390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/30831e40-e884-11de-ba73-000ea68e967b","is_oa":false,"landing_page_url":"https://researchprofiles.ku.dk/da/publications/30831e40-e884-11de-ba73-000ea68e967b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401983","display_name":"Research at the University of Copenhagen (University of Copenhagen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I124055696","host_organization_name":"University of Copenhagen","host_organization_lineage":["https://openalex.org/I124055696"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Liu , J , Fan , Z , Olsen , S I , Christensen , K & Krinstensen , J 2009 , Using Active Contour Models for Feature Extraction in Camera-Based Seam Tracking of Arc Welding . in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09) . pp. 5948-5955 , IEEE/RSJ International Conference on Intelligent Robots and Systems \u00a0IROS 2009 , St. Louis , United States , 11/10/2009 . https://doi.org/10.1109/IROS.2009.5354390","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.atira.dk:publications/dd48135b-1466-4d30-b83b-6d4cc24e0a02","is_oa":true,"landing_page_url":"https://orbit.dtu.dk/en/publications/dd48135b-1466-4d30-b83b-6d4cc24e0a02","pdf_url":null,"source":{"id":"https://openalex.org/S4306400705","display_name":"Technical University of Denmark, DTU Orbit (Technical University of Denmark, DTU)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I96673099","host_organization_name":"Technical University of Denmark","host_organization_lineage":["https://openalex.org/I96673099"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Liu , J , Fan , Z , Olsen , S , Christensen , K & Kristensen , J 2009 , Using active contour models for feature extraction in camera-based seam tracking of arc welding . in International Conference on Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ . IEEE , 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems , St. Louis , Missouri , United States , 10/10/2009 . https://doi.org/10.1109/IROS.2009.5354390","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:publications/dd48135b-1466-4d30-b83b-6d4cc24e0a02","is_oa":true,"landing_page_url":"https://orbit.dtu.dk/en/publications/dd48135b-1466-4d30-b83b-6d4cc24e0a02","pdf_url":null,"source":{"id":"https://openalex.org/S4306400705","display_name":"Technical University of Denmark, DTU Orbit (Technical University of Denmark, DTU)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I96673099","host_organization_name":"Technical University of Denmark","host_organization_lineage":["https://openalex.org/I96673099"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Liu , J , Fan , Z , Olsen , S , Christensen , K & Kristensen , J 2009 , Using active contour models for feature extraction in camera-based seam tracking of arc welding . in International Conference on Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ . IEEE , 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems , St. Louis , Missouri , United States , 10/10/2009 . https://doi.org/10.1109/IROS.2009.5354390","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1590012787","https://openalex.org/W1971905455","https://openalex.org/W2095905764","https://openalex.org/W2104095591","https://openalex.org/W2121009299","https://openalex.org/W2145023731","https://openalex.org/W2162588419","https://openalex.org/W2317002898","https://openalex.org/W2536935159","https://openalex.org/W6683649066"],"related_works":["https://openalex.org/W2367329099","https://openalex.org/W2347399989","https://openalex.org/W2361042172","https://openalex.org/W2376972331","https://openalex.org/W2356295322","https://openalex.org/W2381178129","https://openalex.org/W2393371589","https://openalex.org/W2372803165","https://openalex.org/W2381625438","https://openalex.org/W3197114850"],"abstract_inverted_index":{"In":[0,130],"the":[1,20,26,30,46,49,55,60,69,75,96,107,127,151,162,182,195],"recent":[2],"decades":[3],"much":[4],"research":[5],"has":[6,22],"been":[7,23],"performed":[8],"in":[9,64],"order":[10],"to":[11,59,110,145,150,176],"allow":[12],"better":[13],"control":[14,44,159,171],"of":[15,29,45,51,54,106,126],"arc":[16,152],"welding":[17,33,56,76],"processes,":[18],"but":[19],"success":[21],"limited,":[24],"and":[25,42,102,120,153,169,198,220],"vast":[27],"majority":[28],"industrial":[31,80],"structural":[32],"work":[34],"is":[35,83,117,142,173],"therefore":[36],"still":[37],"being":[38],"made":[39],"manually.":[40],"Closed-loop":[41],"nearly-closed-loop":[43,158,170],"processes":[47],"requires":[48],"extraction":[50],"characteristic":[52],"parameters":[53],"groove":[57,97,108,147,196],"close":[58],"molten":[61,128,183],"pool,":[62],"i.e.":[63],"an":[65],"environment":[66],"dominated":[67],"by":[68,98,113,222],"very":[70,178],"intense":[71],"light":[72,100],"emission":[73],"from":[74],"arc.":[77],"The":[78],"typical":[79],"solution":[81,116],"today":[82],"a":[84,87,92,99,157,208],"laser-scanner":[85],"containing":[86],"camera":[88],"as":[89,91,186,188],"well":[90],"laser":[93],"source":[94],"illuminating":[95],"curtain":[101],"thus":[103,154],"allowing":[104],"details":[105],"geometry":[109],"be":[111],"extracted":[112],"triangulation.":[114],"This":[115],"relatively":[118],"expensive":[119],"must":[121],"act":[122],"several":[123],"centimetres":[124],"ahead":[125],"pool.":[129],"addition":[131],"laser-scanners":[132],"often":[133],"show":[134],"problems":[135],"when":[136],"dealing":[137],"with":[138],"shiny":[139],"surfaces.":[140],"It":[141],"highly":[143],"desirable":[144],"extract":[146],"features":[148,191,204],"closer":[149],"facilitate":[155],"for":[156,165],"situation.":[160],"On":[161],"other":[163],"hand,":[164],"performing":[166],"seam":[167],"tracking":[168],"it":[172],"not":[174],"necessary":[175],"obtain":[177,202],"detailed":[179],"information":[180],"about":[181],"pool":[184],"area":[185],"long":[187],"some":[189],"important":[190],"are":[192],"obtained,":[193],"e.g.":[194],"position":[197],"gap":[199],"width.":[200],"To":[201],"these":[203],"without":[205],"external":[206],"illumination,":[207],"new":[209],"image":[210],"analysis":[211],"scheme":[212],"based":[213],"on":[214],"active":[215],"contour":[216],"models":[217],"was":[218],"proposed":[219],"verified":[221],"experimental":[223],"results.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}