Taking into account camera tilt when correcting a three-dimensional model of a hollow pipe during visual diagnostics with a self-propelled complex

This paper investigates the problem of assessing the degree of pipe deformation and the deviation of its longitudinal section profile from a cylindrical shape based on a three-dimensional point model of a hollow pipe under conditions when this model turns out to be displaced (rotated in space) relative to its real position. An algorithm for correcting a three-dimensional point model based on data on the current tilt of the camera is considered, as well as an algorithm for the actually obtained image overlaid with virtual cross-sections of the pipe, close to ideal.