Dynamic monitoring of weld pool formation and seam deviations using infrared vision is described in this paper. Isothermal contours representing heat dissipation characteristics during the process of arc welding were analysed and processed using imaging techniques. Maximum bead width and penetration were recorded and the geometric position in relation to the welding seam was measured at each sampling point. Deviations from the desired bead geometry and welding path were sensed and their thermographic representations were digitised and welding path were sensed and their thermographic representations were digitised and subsequently identified. Evidence suggested that infrared thermography can be utilized to compensate for inaccuracies encountered in real-time during robotic arc welding.