CMOS imagers are replacing CCD imagers in many applications and will continue to make new applications possible. CMOS imaging offers lower cost implementations on standard CMOS processes which allow for mixed signal processing on-chip. A system-on-a-chip approach offers the ability to perform complex algorithms faster, in less space, and with lower power and noise. Our transform imager is an implementation of a mixed focal plane and peripheral computation imager which allows high fill factor with high computational rates at low power. However, in order to use the technology effectively a need to verify and further understand the behavior and of the pixel elements in this transform imager was needed. This thesis presents a study of the pixel elements and mismatches and errors in the pixel array of this imager. From there, a discussion about removing offsets and an implementation of a circuit to remove the largest offsets is shown. To further enhance performance, initial work to develop light adaptive readout circuits is presented. Finally, an overview is given of a newly designed one-megapixel transform imager with many design improvements.

Thesis (Ph. D.)--University of Missouri-Columbia, 2000. / Typescript. Vita. Includes bibliographical references (leaves 109-112). Also available on the Internet.

Thesis (M.Sc.)--Memorial University of Newfoundland, 2000. / Bibliography: leaves 114-119.

Thesis (M.S.)--California Polytechnic State University, 2009. / Title from PDF title page; viewed on January 5, 2010. Major professor: Lily Laiho, Ph.D. "Presented to the faculty of California Polytechnic State University, San Luis Obispo." "In partial fulfillment of the requirements for the degree [of] Master of Science in Engineering." "December 2009." Includes bibliographical references (p. 79-83). Also available on microfiche.

Thesis (M.S.)--Worcester Polytechnic Institute. / Keywords: digital x-ray imaging; pixel size; scintillator. Includes bibliographical references (p. 57-59).

Thesis (Ph. D.)--University of California, Riverside, 2009. / Includes abstract. Available via ProQuest Digital Dissertations. Title from first page of PDF file (viewed March 16, 2010). Includes bibliographical references. Also issued in print.

Thesis (Ph. D.)--School of Electrical and Computer Engineering, Georgia Institute of Technology, 2004. Directed by D. Scott Wills. / Vita. Includes bibliographical references (leaves 105-111).

Thesis (Ph. D.)--University of Missouri-Columbia, 2000. / Typescript. Vita. Includes bibliographical references (leaves 109-112). Also available on the Internet.

Thesis (Ph. D.)--University of Washington, 2002. / Vita. Includes bibliographical references (p. 144-159).

In this work we develop optical flow templates. In doing so, we introduce a practical tool for inferring robot egomotion and semantic superpixel labeling using optical flow in imaging systems with arbitrary optics. In order to do this we develop valuable understanding of geometric relationships and mathematical methods that are useful in interpreting optical flow to the robotics and computer vision communities. This work is motivated by what we perceive as directions for advancing the current state of the art in obstacle detection and scene understanding for mobile robots. Specifically, many existing methods build 3D point clouds, which are not directly useful for autonomous navigation and require further processing. Both the step of building the point clouds and the later processing steps are challenging and computationally intensive. Additionally, many current methods require a calibrated camera, which introduces calibration challenges and places limitations on the types of camera optics that may be used. Wide-angle lenses, systems with mirrors, and multiple cameras all require different calibration models and can be difficult or impossible to calibrate at all. Finally, current pixel and superpixel obstacle labeling algorithms typically rely on image appearance. While image appearance is informative, image motion is a direct effect of the scene structure that determines whether a region of the environment is an obstacle. The egomotion estimation and obstacle labeling methods we develop here based on optical flow templates require very little computation per frame and do not require building point clouds. Additionally, they do not require any specific type of camera optics, nor a calibrated camera. Finally, they label obstacles using optical flow alone without image appearance. In this thesis we start with optical flow subspaces for egomotion estimation and detection of “motion anomalies”. We then extend this to multiple subspaces and develop mathematical reasoning to select between them, comprising optical flow templates. Using these we classify environment shapes and label superpixels. Finally, we show how performing all learning and inference directly from image spatio-temporal gradients greatly improves computation time and accuracy.