Stereo Holographic Diffraction Based Tracking of Microrobots

Sumit Mohanty; Ayoung Hong; Carlos Alcantara; Andrew J. Petruska; Bradley J. Nelson

doi:10.1109/LRA.2017.2775700

Stereo Holographic Diffraction Based Tracking of Microrobots

Sumit Mohanty, Ayoung Hong, Carlos Alcantara, Andrew J. Petruska, Bradley J. Nelson

Research output: Contribution to journal › Article › Academic › peer-review

3 Citations (Scopus)

Abstract

Three-dimensional (3-D) tracking of microrobots is demonstrated using stereo holographic projections. The method detects the lateral position of a microrobot in two orthogonal in-line holography images and triangulates to obtain the 3-D position in an observable volume of 1 cm3. The algorithm is capable of processing holograms at 25 Hz on a desktop computer and has an accuracy of 24.7 μ m and 15.2 μm in the two independent directions and 7.3 μ m in the shared direction of the two imaging planes. This is the first use of stereo holograms to track an object in real time and does not rely on the computationally expensive process of holographic reconstruction.

Original language	English
Article number	8115273
Pages (from-to)	567-572
Number of pages	6
Journal	IEEE Robotics and Automation Letters
Volume	3
Issue number	1
DOIs	https://doi.org/10.1109/LRA.2017.2775700
Publication status	Published - Jan 2018
Externally published	Yes

Keywords

automation at micro/nano scale
Micro/nano robots
segmentation
visual tracking

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10.1109/LRA.2017.2775700

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title = "Stereo Holographic Diffraction Based Tracking of Microrobots",

abstract = "Three-dimensional (3-D) tracking of microrobots is demonstrated using stereo holographic projections. The method detects the lateral position of a microrobot in two orthogonal in-line holography images and triangulates to obtain the 3-D position in an observable volume of 1 cm3. The algorithm is capable of processing holograms at 25 Hz on a desktop computer and has an accuracy of 24.7 μ m and 15.2 μm in the two independent directions and 7.3 μ m in the shared direction of the two imaging planes. This is the first use of stereo holograms to track an object in real time and does not rely on the computationally expensive process of holographic reconstruction.",

keywords = "automation at micro/nano scale, Micro/nano robots, segmentation, visual tracking",

author = "Sumit Mohanty and Ayoung Hong and Carlos Alcantara and Petruska, {Andrew J.} and Nelson, {Bradley J.}",

year = "2018",

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doi = "10.1109/LRA.2017.2775700",

language = "English",

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pages = "567--572",

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AU - Mohanty, Sumit

AU - Hong, Ayoung

AU - Alcantara, Carlos

AU - Petruska, Andrew J.

AU - Nelson, Bradley J.

PY - 2018/1

Y1 - 2018/1

N2 - Three-dimensional (3-D) tracking of microrobots is demonstrated using stereo holographic projections. The method detects the lateral position of a microrobot in two orthogonal in-line holography images and triangulates to obtain the 3-D position in an observable volume of 1 cm3. The algorithm is capable of processing holograms at 25 Hz on a desktop computer and has an accuracy of 24.7 μ m and 15.2 μm in the two independent directions and 7.3 μ m in the shared direction of the two imaging planes. This is the first use of stereo holograms to track an object in real time and does not rely on the computationally expensive process of holographic reconstruction.

AB - Three-dimensional (3-D) tracking of microrobots is demonstrated using stereo holographic projections. The method detects the lateral position of a microrobot in two orthogonal in-line holography images and triangulates to obtain the 3-D position in an observable volume of 1 cm3. The algorithm is capable of processing holograms at 25 Hz on a desktop computer and has an accuracy of 24.7 μ m and 15.2 μm in the two independent directions and 7.3 μ m in the shared direction of the two imaging planes. This is the first use of stereo holograms to track an object in real time and does not rely on the computationally expensive process of holographic reconstruction.

KW - automation at micro/nano scale

KW - Micro/nano robots

KW - segmentation

KW - visual tracking

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DO - 10.1109/LRA.2017.2775700

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JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 1

M1 - 8115273

ER -

Stereo Holographic Diffraction Based Tracking of Microrobots

Abstract

Keywords

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