对于线结构光视觉传感的焊缝跟踪系统，快速、精准地识别和提取焊缝特征点是 关键． 根据结构光条纹线在焊缝处的变形导致的条纹不连续现象，对不锈钢平板对接焊缝 和搭接焊缝进行了跟踪试验，提出以改进的均值漂移算法提取焊缝特征点的算法． 与传统 算法不同，所提算法免去了提取条纹中心线与拟合条纹线过程，直接通过漂移识别焊缝特 征点;通过限制漂移算法的搜索方向，防止搜索“回漂”现象;引入漂移加速因子，提高算 法执行效率． 试验结果表明，利用改进均值漂移算法能够有效地识别焊缝特征点，显著地 提高焊缝跟踪的准确度和实时性能．

A fast and accurate weld seam feature point recognition is the key of the weld seam tracking system based on structured light sensing． For the streak discontinuity caused by the deformation of structured light stripe line at the weld，tracking tests were carried on butt and lap welds of stainnless steel board，and an improved mean-shift algorithm was proposed to extract the feature point of a weld seam． Unlike the traditional algorithm，the improved algorithm eliminated the process of extracting fringe center line and fitting fringe lineand the feature points of welding seam are identified by drift． In order to prevent from back-shifting，the search direction of the algorithm was limited． To improve the running efficiency，a shifting accelerating factor was introduced． The test shows that the improved mean-shift algorithm can effectively recognize the feature point of a weld seam and saliently improve the accuracy and real-time performance．