12 In this paper an inspection system for both weld quality and chamfer quality is presented which is a 3D laser vision system using principles of optical triangulation, and is composed of sensor head and controller. Sensor head includes laser diode, micro CCD camera, filter and some mirrors. This system can be used in welding bead inspection (including undercut) and chamfer inspection as well. Compared with conventional inspection method, it is much more convenient to use and the inspection time is to be greatly shortened. Data saved in PC can be used for statistics afterwards. This system has been being used in Koje Shipyard or Samsung Heavy Industries and the need is being increased.© (2001) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.