3-D Sensing With Polar Exponential Sensor Arrays

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Abstract
Computations for 3-D vision are greatly simplified by looking at the world through polar exponential sensor arrays. Rotation and zoom invariance, and wide field of view with reduced pixel count, are well known benefits of such arrays. More subtle, equally powerful properties applicable to the interpretation of 3-D images, are described in this paper. Computations involving scaling, such as perspective and optic flow, are reduced to additive operations by the implicit logarithmic transformation of image coordinates. Expressions for such computations are derived in this paper and applied to sensor design examples. Advantages of polar exponential arrays over x-y rasters for binocular vision are also discussed.

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