Exponential sensor array geometry and simulation

The polar exponential arrays whose geometric parameters are presently analyzed have proven superior to X-Y raster imaging sensors when wide FOV, high central resolution, and rotation- and zoom-invariance are required; attractive applications for such arrays are in spacecraft docking/tracking/stationkeeping and mobile robot navigation. Attention is given to optimal designs minimizing sensor configuration and computation requirements, and the relation of geometric parameters to the three-dimensional sensing precision requirements driving sensor design. A method for smooth patching of the 'blind-spot' singularity in the sensor with a uniformly high-resolution 'fovea' is also presented.