Abstract: In order to overcome the limitations of fillet weld visual inspection,an automatic post-weld shape dimension approach based on coded structured light was proposed.A structured light vision system is mounted on the end-effector of the robot and it acquires dimensional data of the target object.The LCD projector firstly projects a pseudo random color stripes image onto the workpiece and then projects a blank image for color compensation,which reduces the interference of color texture on structured light decoding.After color compensation,point-cloud data of tested workpiece is reconstructed and finally the weld shape information is obtained by means of geometrical computation.The experimental results show that the proposed method is accurate and reliable for fillet weld non-contact shape inspection.