@article{Son20121, title = {A new seam-tracking algorithm through characteristic-point detection for a portable welding robot}, author = {Chang, Doyoung and Son, Donghoon and Lee, Jungwoo and Lee, Donghun and Kim, Tae-wan and Lee, Kyu-Yeul and Kim, Jongwon}, journal = {Robotics and Computer-Integrated Manufacturing}, volume = {28}, year = {2012}, doi = {} }