中文摘要：

提出一种基于轮廓关键点和能量中心优化的条纹中心线精确提取方法．利用轮廓点曲率提取轮廓关键点，并根据所提取的关键点对轮廓横截面进行分块；利用Bazen方法提取轮廓横截面法向量，借助灰度重心法提取条纹中心线；根据光刀能量服从偏态分布的特点对条纹中心进行优化．实验结果证明，该方法能够快速、准确地提取激光条纹中心，可以满足结构光焊接系统的实时性和准确性要求．

英文摘要：

A method was proposed for accurate extraction of the stripe center line based on the outline key points and energy optimization. By this method contour curvature was used to extract the key points to divide the cross-section into blocks with. Bazen method was then used to extract the normal vector of the contour, and the the barycenter method used for stripe center line. Finally, the stripe center line was optimized according to the characteristics of the skewness of energy distribution. The experiment results show that the method can extract the stripe center quickly and accurately enough to meet the real-time and accuracy requirements of the structured light welding system.