This appendix gives details of our sensor s internal timing and control flow. For illustrative purposes we show the timing and control flow for both a 512 32 pixel image (i.e. the case where there is no subsampling due to scale space) and a 32 32 pixel image (where there is maximal subsampling). After the timing diagrams there is a table detailing the meaning of labels in the diagrams. Note that all diagrams assume 10 Hz operation for the sensor. At higher rates only the inter-frame time changes the timing for individual data elements remains the same.
| Time | Description | |
|---|---|---|
| a | 19 ms (max) | Range data input
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