Collaborative robots are used inside blocks and confined spaces in shipbuilding operations like welding. Mari4_YARD presents in this video the hardware solution with a combination of robot equipment from Canonical Robots, a perception system, and a welding machine. The welding joint localization module is a 3D vision system able to calculate the real points that compose a welding trajectory. It is intended to improve the fast-teaching modes in human-robot interaction, increasing the accuracy of learned poses to increase the welding quality.