Stereo Holographic Diffraction Based Tracking of Microrobots
Sumit Mohanty, Ayoung Hong, Carlos Alcantara, Andrew J. Petruska, Bradley J. Nelson
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 cm <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{3}$</tex-math> </inline-formula> . The algorithm is capable of processing holograms at 25 Hz on a desktop computer and has an accuracy of 24.7 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mu \text{m}$</tex-math></inline-formula> and 15.2 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mu \text{m}$</tex-math></inline-formula> in the two independent directions and 7.3 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mu \text{m}$</tex-math></inline-formula> 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.
BibTeX
@inproceedings{ral2018_stereoholographi,
title = {Stereo Holographic Diffraction Based Tracking of Microrobots},
author = {Sumit Mohanty and Ayoung Hong and Carlos Alcantara and Andrew J. Petruska and Bradley J. Nelson},
booktitle = {RA-L 2018},
year = {2018}
}