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Wire and arc additive manufacturing (WAAM) shows a great promise for fabricating fully dense metal parts by means of melting materials in layers using a welding heat source.However,due to a large layer height produced in WAAM,an unsatisfactory surface roughness of parts processed by this technology has been a key issue.A methodology based on laser vision sensing is proposed to quantitatively calculate the surface roughness of parts deposited by WAAM.Calibrations for a camera and a laser plane of the optical system are presented.The reconstruction precision of the laser vision system is verified by a standard workpiece.Additionally,this determination approach is utilized to calculate the surface roughness of a multi-layer single-pass thin-walled part.The results indicate that the optical measurement approach based on the laser vision sensing is a simple and effective way to characterize the surface roughness of parts deposited by WAAM.The maximum absolute error is less than 0.15 m m.The proposed research provides the foundation for surface roughness optimization with different process parameters.