Exponential Sensor Array Geometry And Simulation

Abstract

Polar exponential sensor arrays have been shown to be advantageous over conventional x-y raster imaging sensors when wide field of view, high central resolution, and rotation and zoom invariance are desirable. Applications include spacecraft docking, tracking and station keeping, and mobile robot navigation. Optimal designs minimizing sensor configuration and computational requirements are critical in such mobile applications. This paper analyzes geometric parameters of polar exponential arrays, and their relation to 3-D sensing precision requirements which drive sensor design. Resolution, field of view, and perspective projection are discussed. A method for smoothly patching the "blind-spot" singularity in the sensor with a uniformly high resolution "fovea" is presented. A software testbed for simulation of the sensor geometry and mappings is described. The user can specify any resolution and field of view. Imagery generated by this simulator efficiently illustrates the geometric effects of various choices of parameters, thereby providing a design tool for construction of sensors.