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Stereo Holographic Diffraction Based Tracking of Microrobots
KTH, School of Information and Communication Technology (ICT).
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2018 (English)In: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 3, no 1, p. 567-572Article in journal (Refereed) Published
Abstract [en]

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 cm(3). The algorithm is capable of processing holograms at 25 Hz on a desktop computer and has an accuracy of 24.7 mu mand 15.2 mu min the two independent directions and 7.3 mu 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.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2018. Vol. 3, no 1, p. 567-572
Keywords [en]
Micro/nano robots, visual tracking, segmentation, automation at micro/nano scale
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-220814DOI: 10.1109/LRA.2017.2775700ISI: 000418327700016OAI: oai:DiVA.org:kth-220814DiVA, id: diva2:1174729
Note

QC 20180116

Available from: 2018-01-16 Created: 2018-01-16 Last updated: 2018-01-16Bibliographically approved

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Mohanty, Sumit
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