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diff --git a/assets/components/sensor/ultrasonic-sensor-ui-config.png b/assets/components/sensor/ultrasonic-sensor-ui-config.png
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diff --git a/docs/components/camera/_index.md b/docs/components/camera/_index.md
index 96dae86a44..97edbe59e9 100644
--- a/docs/components/camera/_index.md
+++ b/docs/components/camera/_index.md
@@ -51,6 +51,7 @@ For configuration information, click on one of the supported camera models:
 | [`align_color_depth_homography`](align-color-depth-homography/) | Uses a homography matrix to align the color and depth images. |
 | [`join_pointclouds`](join-pointclouds/) | Combines the point clouds from multiple camera sources and projects them to be from the point of view of target_frame. |
 | [`transform`](transform/) | A pipeline for applying transformations to an input image source. |
+| [`ultrasonic`](ultrasonic/) | An ultrasonic distance sensor like the [HC-S204](https://www.sparkfun.com/products/15569). |
 
 Viam also provides the following camera models as [modular resources](/extend/modular-resources/):
 
diff --git a/docs/components/camera/ultrasonic.md b/docs/components/camera/ultrasonic.md
new file mode 100644
index 0000000000..ce3cf92c76
--- /dev/null
+++ b/docs/components/camera/ultrasonic.md
@@ -0,0 +1,85 @@
+---
+title: "Configure an ultrasonic Camera"
+linkTitle: "ultrasonic"
+weight: 60
+type: "docs"
+description: "Configure an ultrasonic model camera."
+tags: ["camera", "components", "ultrasonic"]
+icon: "/icons/components/camera.svg"
+images: ["/icons/components/camera.svg"]
+# SME: #team-bucket
+---
+
+{{< alert title="Usage" color="tip" >}}
+An ultrasonic distance sensor can also be configured as a [sensor](/components/sensor/) resource.
+When configured as a sensor, you can use the sensor method [`GetReadings()`](/components/sensor/#getreadings), rather than the camera method [`GetPointCloud()`](/components/camera/#getpointcloud).
+{{< /alert >}}
+
+Configure an `ultrasonic` camera to integrate an ultrasonic distance sensor like the [HC-S204](https://www.sparkfun.com/products/15569) into your robot:
+
+{{< tabs >}}
+{{% tab name="Config Builder" %}}
+
+Navigate to the **Config** tab of your robot's page in [the Viam app](https://app.viam.com).
+Click on the **Components** subtab and click **Create component**.
+Select the `camera` type, then select the `ultrasonic` model.
+Enter a name for your camera and click **Create**.
+
+![Creation of a ultrasonic camera in the Viam app config builder.](/components/camera/configure-ultrasonic.png)
+
+Edit and fill in the attributes as applicable.
+
+{{% /tab %}}
+{{% tab name="JSON Template" %}}
+
+```json {class="line-numbers linkable-line-numbers"}
+{
+  "components": [
+    {
+      "name": "<your-ultrasonic-sensor-name>",
+      "type": "camera",
+      "model": "ultrasonic",
+      "attributes": {
+        "trigger_pin": "<pin-number>",
+        "echo_interrupt_pin": "<pin-number>",
+        "board": "<your-board-name>",
+        "timeout_ms": <int>
+      },
+      "depends_on": []
+    }
+  ]
+}
+```
+
+{{% /tab %}}
+{{% tab name="JSON Example" %}}
+
+```json {class="line-numbers linkable-line-numbers"}
+{
+  "components": [
+    {
+      "name": "your-ultrasonic-sensor",
+      "type": "camera",
+      "model": "ultrasonic",
+      "attributes": {
+        "trigger_pin": "5",
+        "echo_interrupt_pin": "15",
+        "board": "your-board-name",
+        "timeout_ms": "1000"
+      },
+      "depends_on": []
+    }
+  ]
+}
+```
+
+{{% /tab %}}
+{{% /tabs %}}
+
+The following attributes are available for `ultrasonic` cameras:
+
+{{< readfile "/static/include/components/ultrasonic-attributes.md" >}}
+
+## Next Steps
+
+{{< readfile "/static/include/components/camera-model-next-steps.md" >}}
diff --git a/docs/components/sensor/_index.md b/docs/components/sensor/_index.md
index fd8a18b6d0..9441975318 100644
--- a/docs/components/sensor/_index.md
+++ b/docs/components/sensor/_index.md
@@ -37,7 +37,7 @@ For configuration information, click on one of the supported sensor models:
 | Model | Description |
 | ----- | ----------- |
 | [`fake`](fake/) | A model used for testing, with no physical hardware. |
-| [`ultrasonic`](ultrasonic/) | [HC-S204 ultrasonic distance sensor](https://www.sparkfun.com/products/15569) |
+| [`ultrasonic`](ultrasonic/) | An ultrasonic distance sensor like the [HC-S204](https://www.sparkfun.com/products/15569) |
 | [`bme280`](bme280/) | [BME280 environmental sensor](https://www.adafruit.com/product/2652) |
 | [`ds18b20`](ds18b20/) | [DallasTemperature DS18B20 digital temperature sensor](https://www.adafruit.com/product/381) |
 | [`sensirion-sht3xd`](sensirion-sht3xd/) | [Sensirion SHT3x-DIS temperature and humidity sensor](https://www.adafruit.com/product/2857) |
diff --git a/docs/components/sensor/ultrasonic.md b/docs/components/sensor/ultrasonic.md
index 967dd37d5d..c091330946 100644
--- a/docs/components/sensor/ultrasonic.md
+++ b/docs/components/sensor/ultrasonic.md
@@ -4,13 +4,20 @@ linkTitle: "ultrasonic"
 weight: 60
 type: "docs"
 description: "Configure an ultrasonic model sensor."
-tags: ["sensor", "components"]
+tags: ["sensor", "components", "ultrasonic"]
 icon: "/icons/components/sensor.svg"
 images: ["/icons/components/sensor.svg"]
 # SME: #team-bucket
 ---
 
-Configure an `ultrasonic` sensor to integrate an [HC-S204 ultrasonic distance sensor](https://www.sparkfun.com/products/15569) into your robot:
+{{< alert title="Tip" color="tip" >}}
+An ultrasonic distance sensor can also be configured as a [camera](/components/camera/) resource.
+
+When configured as a camera, you can use the camera method [`GetPointCloud()`](/components/camera/#getpointcloud), rather than the sensor method [`GetReadings()`](/components/sensor/#getreadings).
+Additionally, you can use the camera component as an input to a [vision service](/services/vision/) model that returns obstacles.
+{{< /alert >}}
+
+Configure an `ultrasonic` sensor to integrate an ultrasonic distance sensor like the [HC-S204](https://www.sparkfun.com/products/15569) into your robot:
 
 {{< tabs >}}
 {{% tab name="Config Builder" %}}
@@ -73,12 +80,6 @@ Edit and fill in the attributes as applicable.
 
 The following attributes are available for `ultrasonic` sensors:
 
-<!-- prettier-ignore -->
-| Attribute | Type | Inclusion | Description |
-| --------- | ---- | --------- | ----------- |
-| `board`  | string | **Required** | The `name` of the [board](/components/board/) the sensor is wired to. |
-| `trigger_pin` | string | **Required** | The {{< glossary_tooltip term_id="pin-number" text="pin number" >}} on the [board](/components/board/) that you have wired [the sensor's trigger pin](https://www.sparkfun.com/products/15569). |
-| `echo_interrupt_pin` | string | **Required** | The {{< glossary_tooltip term_id="pin-number" text="pin number" >}} of the pin [the sensor's echo pin](https://www.sparkfun.com/products/15569) is wired to on the board. If you have already created a [digital interrupt](/components/board/#digital_interrupts) for this pin in the [board's configuration](/components/board/), use that digital interrupt's `name` instead. |
-| `timeout_ms`  | int | Optional | Time to wait in milliseconds before timing out of requesting to get readings from the sensor. <br> Default: `1000`. |
+{{< readfile "/static/include/components/ultrasonic-attributes.md" >}}
 
 {{< readfile "/static/include/components/test-control/sensor-control.md" >}}
diff --git a/static/include/components/ultrasonic-attributes.md b/static/include/components/ultrasonic-attributes.md
new file mode 100644
index 0000000000..e1f8088ef1
--- /dev/null
+++ b/static/include/components/ultrasonic-attributes.md
@@ -0,0 +1,7 @@
+<!-- prettier-ignore -->
+| Attribute | Type | Inclusion | Description |
+| --------- | ---- | --------- | ----------- |
+| `board`  | string | **Required** | The `name` of the [board](/components/board/) the ultrasonic is wired to. |
+| `trigger_pin` | string | **Required** | The {{< glossary_tooltip term_id="pin-number" text="pin number" >}} of the [board's](/components/board/) GPIO pin that you have wired [the ultrasonic's trigger pin](https://www.sparkfun.com/products/15569) to. |
+| `echo_interrupt_pin` | string | **Required** | The {{< glossary_tooltip term_id="pin-number" text="pin number" >}} of the pin [the ultrasonic's echo pin](https://www.sparkfun.com/products/15569) is wired to on the board. If you have already created a [digital interrupt](/components/board/#digital_interrupts) for this pin in the [board's configuration](/components/board/), use that digital interrupt's `name` instead. |
+| `timeout_ms`  | int | Optional | Time to wait in milliseconds before timing out of requesting to get ultrasonic distance readings. <br> Default: `1000`. |