Fig. 1. Network structure diagram of weld feature point extraction

Fig. 2. Schematics of prior box generation process. (a) Weld image; (b) feature map in network

Fig. 3. Schematics of marking weld feature points. (a) Weld image; (b) marking graph

Fig. 4. Extracted weld feature points under different noise interference conditions

Fig. 5. Extracted feature points of weld with different grooves

Fig. 6. Tracking results of weld feature points under different levels of noise

Fig. 7. Enlarged display of weld feature point tracking results under different levels of noise

Fig. 8. Feature points tracking of weld with different groove types

Fig. 9. Enlarged display of feature points tracking of weld with different groove types

Fig. 10. Weld feature points tracking error graph

Fig. 11. Error analysis diagram