SmartBlue is a system which contains all features of SkyBlue but has some additional functions related to Inspection and Quality control of the welds. The system is collecting data and instantly verifying about defects. The last measurement result sent to the robot system contains the quality result of the weld. The system is constructing in real-time a mesh (vectorized version of the observed profile) from the history of a point cloud and known speed of motion of the robot. The mesh then allow to compute fast different geometric parameters and check if they are acceptable.