Ultrasonic holography techniques for localizing and imaging solid objects

Author

Knoll, Alois C.

Author_Institution

Tech. Univ., Berlin, Germany

Volume

7

Issue

4

fYear

1991

fDate

8/1/1991 12:00:00 AM

Firstpage

449

Lastpage

467

Abstract

The theory of both the monofrequency and multifrequency modes of ultrasonic holographic imaging as suitable for the requirements of object recognition in robot assembly tasks is described. The theory was implemented experimentally. Results show that the monofrequency approach provides fairly good lateral but insufficient depth resolution. By contrast, with multifrequency holography, depth resolutions of better than 3 mm and lateral resolutions of about 10 mm are attainable. New ultrasonic transducers, combined with a special signal preprocessing procedure, are a prerequisite for resolutions of this order. Typical images as obtained from several test scenes are presented. Suitable applications and possible future research are briefly outlined

Keywords

acoustic holography; assembling; computer vision; industrial robots; ultrasonic transducers; acoustic holography; depth resolutions; lateral resolutions; monofrequency; multifrequency modes; object recognition; robot assembly; signal preprocessing; solid objects; ultrasonic holographic imaging; ultrasonic transducers; Acoustic propagation; Acoustic sensors; Holography; Mechanical sensors; Object recognition; Robotic assembly; Signal resolution; Solids; Sonar; Ultrasonic imaging;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.86076

Filename

86076