This paper describes a framework for detecting welding errors using 3D scanner data. The proposed approach employs density-based clustering to compare point clouds and identify deviations. The discovered clusters are then classified according to standard welding fault classes. Six welding deviations defined in the ISO 5817:2014 standard were evaluated. All defects were represented through CAD models, and the method was able to detect five of these deviations. The results demonstrate that the errors can be effectively identified and grouped according to the location of the different points in the error clusters. However, the method cannot separate crack-related defects as a distinct cluster.
