Because of its fast and precise welding performance, laser welding is becoming a new excellent welding method. However, the precise focusing and robust seam tracking are required to apply laser welding to the practical fields. In order to laser weld a type of T joint like a circular pipe on a square pipe, which could be met in the three dimensional structure such as an aluminum space frame, a visual sensor system was developed for automation of focusing and seam tracking. The developed sensor system consists of a digital CCD camera, a structured laser, and a vision processor. It is moved and positioned by a 2-axis motorized stage, which is attached to a 6 axis robot manipulator with a laser welding head. After stripe-type structured laser illuminates a target surface, images are captured through the digital CCD camera. From the image, seam error and defocusing error are calculated using image processing algorithms which includes efficient techniques handling continuously changed image patterns. These errors are corrected by the stage off-line during welding or teaching. Laser welding of a circular pipe on a square pipe was successful with the vision tracking system by reducing the path positioning and de focusing errors due to the robot teaching or a geometrical variation of specimens and jig holding.