{"id":"https://openalex.org/W1968850698","doi":"https://doi.org/10.1109/rose.2010.5675251","title":"Development of a characteristic point detecting seam tracking algorithm for portable welding robots","display_name":"Development of a characteristic point detecting seam tracking algorithm for portable welding robots","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1968850698","doi":"https://doi.org/10.1109/rose.2010.5675251","mag":"1968850698"},"language":"en","primary_location":{"id":"doi:10.1109/rose.2010.5675251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose.2010.5675251","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Workshop on Robotic and Sensors Environments","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103578866","display_name":"Doyoung Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Doyoung Chang","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076326404","display_name":"Donghoon Son","orcid":"https://orcid.org/0000-0002-6483-1589"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghoon Son","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101484819","display_name":"Nam-Soo Kim","orcid":"https://orcid.org/0000-0002-2534-012X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Namsoo Kim","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356559","display_name":"Jongwon Kim","orcid":"https://orcid.org/0000-0003-2519-6890"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongwon Kim","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376261","display_name":"Jungwoo Lee","orcid":"https://orcid.org/0000-0002-6804-980X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungwoo Lee","raw_affiliation_strings":["Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, South Korea","Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, Korea#TAB#","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329532","display_name":"Tae\u2010Wan Kim","orcid":"https://orcid.org/0000-0002-3385-4657"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Tae-Wan Kim","raw_affiliation_strings":["Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, South Korea","Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, Korea#TAB#","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089668609","display_name":"Kyu-Yeul Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyu-Yeul Lee","raw_affiliation_strings":["Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, South Korea","Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Naval Architecture and Ocean Engineering, Seoul National University, Seoul, Korea#TAB#","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5103578866"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.10462084,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10834","display_name":"Welding Techniques and Residual Stresses","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9980999827384949,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/algorithm","display_name":"Algorithm","score":0.5905984044075012},{"id":"https://openalex.org/keywords/welding","display_name":"Welding","score":0.5715314149856567},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5630009174346924},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5568787455558777},{"id":"https://openalex.org/keywords/robot-welding","display_name":"Robot welding","score":0.526828944683075},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5268113613128662},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5256905555725098},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4820424020290375},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4392143189907074},{"id":"https://openalex.org/keywords/shipbuilding","display_name":"Shipbuilding","score":0.4378810226917267},{"id":"https://openalex.org/keywords/randomness","display_name":"Randomness","score":0.4198811650276184},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4169777035713196},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38561728596687317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3325677812099457},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32881394028663635},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18484294414520264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1539766788482666}],"concepts":[{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5905984044075012},{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"score":0.5715314149856567},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5630009174346924},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5568787455558777},{"id":"https://openalex.org/C118198166","wikidata":"https://www.wikidata.org/wiki/Q2327264","display_name":"Robot welding","level":3,"score":0.526828944683075},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5268113613128662},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5256905555725098},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4820424020290375},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4392143189907074},{"id":"https://openalex.org/C65542768","wikidata":"https://www.wikidata.org/wiki/Q474200","display_name":"Shipbuilding","level":2,"score":0.4378810226917267},{"id":"https://openalex.org/C125112378","wikidata":"https://www.wikidata.org/wiki/Q176640","display_name":"Randomness","level":2,"score":0.4198811650276184},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4169777035713196},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38561728596687317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3325677812099457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32881394028663635},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18484294414520264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1539766788482666},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rose.2010.5675251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose.2010.5675251","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Workshop on Robotic and Sensors Environments","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1873340683","https://openalex.org/W1966326457","https://openalex.org/W1989366136","https://openalex.org/W2049187380","https://openalex.org/W2052277674","https://openalex.org/W2065784147","https://openalex.org/W2078046011","https://openalex.org/W2079003461","https://openalex.org/W2089505787","https://openalex.org/W2108401924","https://openalex.org/W2145023731","https://openalex.org/W2172068760","https://openalex.org/W4299296174"],"related_works":["https://openalex.org/W2108902080","https://openalex.org/W631791964","https://openalex.org/W2808571792","https://openalex.org/W2375474688","https://openalex.org/W3140366830","https://openalex.org/W2348364560","https://openalex.org/W2743118559","https://openalex.org/W2039748132","https://openalex.org/W3034924094","https://openalex.org/W3094954546"],"abstract_inverted_index":{"A":[0,136],"double-hulled":[1],"structure":[2],"is":[3,76,79,122,127,142,176,185],"a":[4,62,72,116],"typical":[5,57],"hazardous":[6],"environment":[7],"found":[8],"in":[9,55],"the":[10,23,35,38,41,86,110,120,133,145,150,155,160,163],"shipbuilding":[11],"areas.":[12],"Therefore":[13,48],"many":[14],"efforts":[15],"have":[16,43],"been":[17],"made":[18,44],"for":[19,22,66,171],"automation,":[20],"especially":[21],"welding":[24,93,175,188],"tasks.":[25],"However,":[26],"constraints":[27],"such":[28],"as":[29],"size":[30],"and":[31,37,50,157],"weight":[32],"limits":[33],"of":[34,40,88,98,104,115,119,159,162],"robot":[36],"randomness":[39],"tasks":[42],"automation":[45],"very":[46,89],"difficult.":[47],"simple":[49],"robust":[51],"algorithms":[52],"are":[53],"preferable":[54],"this":[56,60],"field.":[58],"In":[59,109],"paper":[61],"seam":[63,87],"tracking":[64],"algorithm":[65,96,141,184],"weaving":[67],"weld":[68],"path":[69,169],"planning":[70,170],"using":[71],"laser":[73],"displacement":[74],"sensor":[75],"developed.":[77],"It":[78],"designed":[80],"to":[81,129,144,148,165],"enable":[82],"portable":[83],"robots":[84],"detect":[85,149],"irregular":[90],"single":[91],"butt":[92,173],"profiles.":[94],"The":[95,183],"consists":[97],"four":[99],"steps;":[100],"Scan,":[101],"Filtering,":[102],"Generation":[103],"reference":[105,151,181],"points,":[106],"Path":[107],"planning.":[108],"scan":[111],"process":[112],"depth":[113],"data":[114,147],"cross":[117],"section":[118],"profile":[121,164],"obtained.":[123],"Next,":[124],"Gaussian":[125],"filter":[126],"used":[128],"remove":[130],"noise":[131],"from":[132],"raw":[134],"data.":[135],"differential":[137],"characteristic":[138],"point":[139],"detection":[140],"applied":[143],"filtered":[146],"points":[152],"which":[153],"represent":[154],"shape":[156],"location":[158],"gap":[161],"be":[166],"welded.":[167],"Finally":[168],"single-V":[172],"multi-pass":[174],"done":[177],"based":[178],"on":[179],"these":[180],"points.":[182],"validated":[186],"through":[187],"experiments.":[189]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
