Fig. 1. Laser stripe of linear structured light

Fig. 2. Stripe cross section of linear structured light

Fig. 3. Area with poor reflection. (a) Fouling area of steel plate; (b) laser stripe weak light uneven area

Fig. 4. Weak light uneven area of laser strip with large slope change. (a) Plane area; (b) surface area

Fig. 5. Cross section pixel histogram of uneven area and low brightness with laser strip. (a) Low brightness area 1; (b) low brightness area 2; (c) uneven area 1; (d) uneven area 2

Fig. 6. Center break in low brightness uneven area

Fig. 7. Chain code representation. (a) Eight-neighborhood chain code representation; (b) eight-neighborhood coordinate representation

Fig. 8. Hypothetical laser stripe diagram

Fig. 9. Search strategy map

Fig. 10. Internal propulsion diagram

Fig. 11. Flow chart of proposed algorithm

Fig. 12. Experimental platform. (a) Platform 1; (b) platorm 2

Fig. 13. Extraction results of non-robust laser stripes. (a) Globally non-robust laser stripes; (b) bending non-robust laser stripes; (c) large slope non-robust laser stripes

Fig. 14. Laser stripe simulation image

Fig. 15. Center extraction result with threshold of 210

Fig. 16. Center extraction result with threshold of 100

Fig. 17. Reflective lamination of V-groove welds

Fig. 18. Extraction results of laser stripes in different interference environments. (a) Arc interference result; (b) splash interference result