title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¾Ð±ÑÐµÐºÑÐ° Ð¿Ð¾ Ð´Ð°Ð½Ð½ÑÐ¼ Ð²Ð¸Ð´ÐµÐ¾ÐºÐ°Ð¼ÐµÑÑ Ð½Ð° Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐµ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Study of methods for building an object model based on data from a video camera on a manipulator
Creators: name: ÐÐ»Ð¸ÑÐµÐµÐ², ÐÐ°Ð´Ð¸Ð¼
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: ÑÑÐµÑ Ð¼ÐµÑÐ½Ð¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
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Ð²Ð¸Ð´ÐµÐ¾ÐºÐ°Ð¼ÐµÑÐ°
three-dimensional modeling
manipulator
video camera
monitoring

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description: The subject of the graduate qualification work is âStudy of methods for building an object model based on data from a video camera on a manipulatorâ. During the study of the topic chosen for the thesis, there were no realized projects for building a three-dimensional model of the object according to the data of a video camera installed on the manipulator. For this reason, it was decided to develop an embedded module, thanks to which it is possible to build a three-dimensional reconstruction of the object. The purpose of this module implementation is to perform the task of monitoring in difficult-to-reach and hazardous environmental conditions.Â As part of the work, various algorithms were considered for finding one point of space in a set of frames taken from many angles and a comparison of these algorithms was carried out.Â The method of building a three-dimensional model according to the video camera was implemented, while measurements of the dimensions of the real object and the reconstructed one showed that the error does not exceed 3.4%. A video sequence processing factor has been proposed in which the reconstruction accuracy of the polygon model increases. A case of an embedded module capable of being attached as a working member to a manipulator is designed. An electrical diagram of the embedded module has been developed.