Method of performing a welding step on a work piece , with an industrial robot, said industrial robot comprising a welding tool for performing said welding step, said method comprising the steps of: - obtaining a digital representation of a work piece using a 3D vision system such as a laser scanner device; wherein the method comprises the steps of: - comparing said obtained digital representation with a single model or a plurality of models in a database; - obtaining at least one match between said single model or said plurality of models in said database and said obtained digital representation based on said comparisons by determining that said obtained digital representation of said work piece is inherently present in at least one matched model , wherein - said step of obtaining at least one match between said single model or said plurality of models in said database and said obtained digital representation comprises fitting said plurality of models or said single model onto said obtained digital representation , wherein said fitting is performed by tilting, scaling and/or deforming said plurality of models or said single model such that positions of the obtained digital representation coincide with associated positions of a model thereby obtaining said match; and characterized in that said method further comprises the steps of: - correcting said obtained digital representation to correspond with said at least one matched model by supplementing said obtained digital representation with a supplemented portion that is present in said at least one matched model but is not present in said obtained digital representation ; and - performing said welding step on said work piece at a position corresponding to said supplemented portion based on said corrected digital representation . - obtaining a digital representation of a work piece using a 3D vision system such as a laser scanner device; - comparing said obtained digital representation with a single model or a plurality of models in a database; - obtaining at least one match between said single model or said plurality of models in said database and said obtained digital representation based on said comparisons by determining that said obtained digital representation of said work piece is inherently present in at least one matched model , wherein - said step of obtaining at least one match between said single model or said plurality of models in said database and said obtained digital representation comprises fitting said plurality of models or said single model onto said obtained digital representation , wherein said fitting is performed by tilting, scaling and/or deforming said plurality of models or said single model such that positions of the obtained digital representation coincide with associated positions of a model thereby obtaining said match; and characterized in that said method further comprises the steps of: - correcting said obtained digital representation to correspond with said at least one matched model by supplementing said obtained digital representation with a supplemented portion that is present in said at least one matched model but is not present in said obtained digital representation ; and - performing said welding step on said work piece at a position corresponding to said supplemented portion based on said corrected digital representation . - correcting said obtained digital representation to correspond with said at least one matched model by supplementing said obtained digital representation with a supplemented portion that is present in said at least one matched model but is not present in said obtained digital representation ; and - performing said welding step on said work piece at a position corresponding to said supplemented portion based on said corrected digital representation . <EOS>