## 3 Results  
For the proposed prototype device, software with a unique principle of calculating the coordinates of the digitized surface based on the registration of common image points in the rectified images in the digitization process was designed. The projected vertical laser line was chosen as the common features for registration. Experimental verification of the functionality of the prototype digitization device was subsequently required. The prototype digitization device was verified while digitizing the surface in confined spaces. For verifying the functionality in hard-to-reach areas, the digitizing printer paper slider was chosen. As can be observed in Figure 7a, the printer surface is black and glossy, and digitizing these surfaces is difficult, even when digitizing with industrial scanners, and often requires the application of a matte coating to the digitized surface. The prototype digitizing equipment was calibrated and then placed in the confined space of the printer's paper feeder. Subsequently, surface digitization was performed. Despite the challenging surface for digitizing, the device was able to register the laser pattern projected on the surface, as can be observed in Figure 7b. The detail of the point cloud obtained by the prototype digitizing device depends on the number of individual scans performed. To verify the functionality of the prototype digitizing device, digitizing was performed in the engine compartment of the automobile in Figure 8. It is not possible to perform surface scanning in this area with conventional scanners because this area is dimensionally  
Figure 7: Prototype digitization device during digitization of printer paper feeder. (**a**) Picture of device. (**b**) The resulting point cloud. confined, and access is prevented by hoses and other components. Therefore, this space can be considered suitable for verifying the functionality of the prototype digitization device. After the calibration of the device was carried out freely in the area in front of the automobile, the device was adjusted to the position with the cameras folded down and inserted into the engine compartment. The actual insertion of the prototype digitizing device into this compartment was considerably challenging, as it was necessary to carefully insert the device into the compartment through hoses and other components, being careful to avoid unwanted collisions of the device with these components. With a strong impact or application of force, it would be possible to damage the ESP32-CAM equipment or the components of the equipment mechanism itself. Subsequently, the device was adjusted into position by the user during calibration by moving the arm holder to the front end position. Subsequently, a wooden bracket was attached to the motor section, and the device was secured to it with plastic tie wraps to prevent it from sliding. It was followed by a gradual digitization of the surface. After digitizing, the device had to be returned to the folded arm position, and the device was carefully removed. As can be seen in Figure 9, it was possible to clearly register the shapes and components digitized in the engine compartment of the automobile within the obtained point cloud. Considering the positive result of the digitization, it can be confirmed that the proposed prototype digitization device can be used in the digitization and technical diagnosis in the field of hard-to-reach areas. Furthermore, a workstation in the lab was digitized using the device as part of a testing of digitizing objects in the room. Despite the perforated surface of part of the wall, it was possible to digitize the workstation, as can be seen in Figure 10. This points to another possible use of the prototype digitizing device in the context of digitizing objects in the room. Figure 8: Prototype digitization device inserted into the engine compartment area. (**a**) Folded position. (**b**) Position for digitizing.