Model-Free 3D Reconstruction of Weld Joint Using Laser Scanning
  This article presents a novel utilization of the concept of entropy in information theory to model-free 3D reconstruction of weld joint in presence of noise. We show that our formulation attains its global minimum at the upper edge of this joint. This property significantly simplifies the extraction of this welding joint. Furthermore, we present an approach to compute the volume of this extracted space to facilitate the monitoring of the progress of the welding task. Moreover, we provide a preliminary analysis of the effect of variation of the noise on the extraction process of this space to realize the impact of this noise on the computation of its area and volume. 
Soheil Keshmiri, Syeda Mariam Ahmed, Yue Wu, Chee Meng Chew, Chee   Khiang Pang
cs.RO