Abstract: In the process of shipbuilding automation, it needs to arrange flame lines for line heating.
When arranging flame lines, it needs to locate flame lines on plate surface. Therefore, a localization
algorithm suitable for plate surface is proposed in this paper, allowing locating and arranging planed
flame lines on plate surface when location information of flame lines end points is given; and it
could figure out location information of settled flame lines vice versa.

Key words: line heating, flame line arrangement, surface localization