Small Obstacle Avoidance Sensor

Table 2

Parameters used in range calculations. Irradiance values are in watts per square centimeter (watts/cm²).

Parameter	Value	Unit	Symbol
Optics transmission	0.8		𝜏
Receiver aperture	3.1	mm^2	𝐴𝑝
Numerical aperture	0.13
Object reflectance	0.3		REFT
Background reflectance	0.5		REFB
Background flux (sun)	6𝐸−3	Watts cm^−2	𝐵flux
Background flux (daylight)	6𝐸−4	Watts cm^−2
Background flux (room)	6𝐸−5	Watts cm^−2
Detector responsivity	0.3	Amperes watt^−1	AW
Detector size	24 by 96	𝜇
Detector area	2.3𝐸−5	cm^2	𝐷area
Read noise	100	Electrons per pixel	𝑅noi
Dark current	100–1000	Electrons per second	𝐷noi
Line rate	15000	Lines per second
Well capacity	600,000	Electrons