3-D sensing with polar exponential sensor arrays

The present computations for three-dimensional vision involve, in such cases as those of scaling for perspective and optic flow, their reduction to additive operations by the implicit logarithmic transformation of image coordinates. Expressions for such computations are derived and applied to illustrative examples of sensor design. The advantages of polar exponential arrays over X-Y rasters for binocular vision are noted to encompass the inference of range and three-dimensional position from local image velocity without knowledge of pixel location, provided that the relative velocity of the target and sensor are known by some other means.