Scan planning and scan operations for welding an object

A method, performed by a controller, for scanning a object to be welded, the method comprising:

• generating, based on one or more characteristics of a sensor of a scan device, a plurality of candidate poses, the plurality of candidate poses associated with a region corresponding to a seam of the object, the seam associated with a feature of one or more features of the object;
• for each candidate pose of the plurality of candidate poses, simulating, based on the one or more characteristics of the sensor and based on one or more physical parameters associated with the object, a scan operation from the candidate pose to generate simulated scan data indicating a simulated image of the region for the candidate pose;
• selecting, from the plurality of candidate poses and based on the simulated scan data for the plurality of candidate poses, multiple scan poses that are associated with a scan trajectory of the scan device;
• and
• initiating, based on the scan trajectory, the scan device to perform a first scan operation of the region through each scan pose of the multiple scan poses.

A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a controller cause the controller to:

• generate, based on one or more characteristics of a sensor of a scan device, a plurality of candidate poses, the plurality of candidate poses associated with a region corresponding to a seam of an object to be welded, the seam associated with a feature of one or more features of the object;
• for each candidate pose of the plurality of candidate poses, simulate, based on the one or more characteristics of the sensor and based on one or more physical parameters associated with the object, a scan operation from the candidate pose to generate simulated scan data indicating a simulated image of the region for the candidate pose;
• select, from the plurality of candidate poses and based on the simulated scan data for the plurality of candidate poses, multiple scan poses that are associated with a scan trajectory of the scan device;
• and
• initiate, based on the scan trajectory, the scan device to perform a first scan operation of the region through each scan pose of the multiple scan poses.