PurposeThe major problem that limits the widespread use of WAAM technology is the forming quality. However, most of the current research focuses on post-process detections that are time-consuming, expensive and destructive. This paper aims to achieve the on-line detection and classification of the common defects, including hump, deposition collapse, deviation, internal pore and surface slag inclusion.Design/methodology/approachThis paper proposes an in-process multi-feature data fusion nondestructive testing method based on the temperature field of the WAAM process. A thermal imager is used to collect the temperature data of the deposition layer in real-time. Efficient processing methods are proposed in this paper, such as the temperature stack algorithm, width extraction algorithm and a classification model based on a residual neural network. Some features closely related to the forming quality were extracted, containing the profile image and width curve of the deposition layer and abnormal temperature features in longitudinal and cross-sections. These features are used to achieve the detection and classification of defects.FindingsThermal non-destructive testing is a potentially superior technology for in-process detection in the industrial field. Based on the temperature field, extracting the most relevant features of the defect information is crucial. This paper pushes current infrared (IR) monitoring methods toward real-time detection and proposes an in-process multi-feature data fusion non-destructive testing method based on the temperature field of the WAAM process.Originality/valueIn this paper, the single-layer and multi-layer WAAM samples are preset with various defects, such as hump, deposition collapse, deviation, pore and slag inclusion. A multi-feature nondestructive testing methodology is proposed to realize the in-process detection and classification of the defects. A temperature stack algorithm is proposed, which improves the detection accuracy of profile change and solves the problem of uneven temperature from arc striking to arc extinguishing. The combination of residual neural network greatly improves the accuracy and efficiency of detection.