For mobile robots to navigate autonomously, one of the most important and challenging task is localisation. Localisation refers to the process whereby a robot locates itself within a map of a known environment or with respect to a known starting point within an unknown environment. Localisation of a robot in unknown environment is done by tracking the trajectory of a robot whilst knowing the initial pose. Trajectory estimation becomes challenging if the robot is operating in an unknown environment that has scarcity of landmarks, is GPS denied, is slippery and dark such as in underground mines. This dissertation addresses the problem of estimating a robot's trajectory in underground mining environments. In the past, this problem has been addressed by using a 3D laser scanner. 3D laser scanners are expensive and consume lot of power even though they have high measurements accuracy and wide eld of view. For this research work, trajectory estimation is accomplished by the fusion of an ego-motion provided by Time of Flight(ToF) camera and measurement data provided by a low cost Inertial Measurement Unit(IMU). The fusion is performed using Kalman lter algorithm on a mobile robot moving in a 2D planar surface. The results shows a signi cant improvement on the trajectory estimation. Trajectory estimation using ToF camera only is erroneous especially when the robot is rotating. The fused trajectory estimation algorithm is able to estimate accurate ego-motion even when the robot is rotating. / [Durban, South Africa] : University of KwaZulu-Natal, 2013.

Live video communications over bandwidth constrained ad-hoc radio networks necessitates high compression rates. To this end, a model based video communication system that incorporates flexible and accurate 3D modelling and reconstruction is proposed in part. Model-based video coding (MBVC) is known to provide the highest compression rates, but usually compromises photorealism and object detail. High compression ratios are achieved at the encoder by extracting and transmit- ting only the parameters which describe changes to object orientation and motion within the scene. The decoder uses the received parameters to animate reconstructed objects within the synthesised scene. This is scene understanding rather than video compression. 3D reconstruction of objects and scenes present at the encoder is the focus of this research. 3D Reconstruction is accomplished by utilizing the Patch-based Multi-view Stereo (PMVS) frame- work of Yasutaka Furukawa and Jean Ponce. Surface geometry is initially represented as a sparse set of orientated rectangular patches obtained from matching feature correspondences in the input images. To increase reconstruction density these patches are iteratively expanded, and filtered using visibility constraints to remove outliers. Depending on the availability of segmentation in- formation, there are two methods for initialising a mesh model from the reconstructed patches. The first method initialises the mesh from the object's visual hull. The second technique initialises the mesh directly from the reconstructed patches. The resulting mesh is then refined by enforcing patch reconstruction consistency and regularization constraints for each vertex on the mesh. To improve robustness to outliers, two enhancements to the above framework are proposed. The first uses photometric consistency during feature matching to increase the probability of selecting the correct matching point first. The second approach estimates the orientation of the patch such that its photometric discrepancy score for each of its visible images is minimised prior to optimisation. The overall reconstruction algorithm is shown to be flexible and robust in that it can reconstruct 3D models for objects and scenes. It is able to automatically detect and discard outliers and may be initialised by simple visual hulls. The demonstrated ability to account for surface orientation of the patches during photometric consistency computations is a key performance criterion. Final results show that the algorithm is capable of accurately reconstructing objects containing fine surface details, deep concavities and regions without salient textures. / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2012.

Wireless Sensor Networks (WSN), a new class of devices, has the potential to revolutionize the capturing, processing, and communication of critical data at low cost. Sensor networks consist of small, low-power, and low-cost devices with limited computational and wireless communication capabilities. These sensor nodes can only transmit a finite number of messages before they run out of energy. Thus, reducing the energy consumption per node for end-to-end data transmission is an important design consideration for WSNs. The Medium Access Control (MAC) protocols aim at providing collision-free access to the wireless medium. MAC protocols also provide the most direct control over the utilization of the transceiver, which consumes most of the energy of the sensor nodes. The major part of this thesis is based on a proposed MAC protocol called Distributed Receiver-oriented MAC (DRMACSN) protocol for code division multiple access (CDMA) based WSNs. The proposed MAC protocol employs the channel load blocking scheme to reduce energy consumption in the network. The performance of the proposed MAC protocol is verified through simulations for average packet throughput, average delay and energy consumption. The performance of the proposed MAC protocol is also compared to the IEEE 802.15.4 MAC and the MAC without the channel load sensing scheme via simulations. An analytical model is derived to analyse the average packet throughput and average energy consumption performance for the DRMACSN MAC protocol. The packet success probability, the message success and blocking probabilities are derived for the DRMACSN MAC protocol. The discrete-time multiple vacation queuing models are used to model the delay behaviour of the DRMACSN MAC protocol. The Probability Generating Functions (PGF) of the arrivals of new messages in sleep, back-off and transmit states are derived. The PGF of arrivals of retransmitted packets of a new message are also derived. The queue length and delay expressions for both the Bernoulli and Poisson message arrival models are derived. Comparison between the analytical and simulation results shows that the analytical model is accurate. The proposed MAC protocol is aimed at having an improved average packet throughput, a reduced packet delay, reduced energy consumption performance for WSN. / Thesis (Ph.D.)-University of KwaZulu-Natal, Pietermaritzburg, 2012.

Biometric systems such as face, palm and fingerprint recognition are very computationally expensive. The ever growing biometric database sizes have posed a need for faster search algorithms. High resolution images are expensive to process and slow down less powerful extraction algorithms. There is an apparent need to improve both the signal processing and the searching algorithms. Researchers have continually searched for new ways of improving the recognition algorithms in order to keep up with the high pace of the scientific and information security world. Most such developments, however, are architecture- or hardware-specific and do not port well to other platforms. This research proposes a cheaper and portable alternative. With the use of the Single Program Multiple Data programming architecture, a distributed fingerprint recognition algorithm is developed and executed on a powerful cluster. The first part in the parallelization of the algorithm is distributing the image enhancement algorithm which comprises of a series of computationally intensive image processing operations. Different processing elements work concurrently on different parts of the same image in order to speed up the processing. The second part of parallelization speeds up searching/ matching through a parallel search. A database is partitioned as evenly as possible amongst the available processing nodes which work independently to search their respective partitions. Each processor returns a match with the highest similarity score and the template with the highest score among those returned is returned as match given that the score is above a certain threshold. The system performance with respect to response time is then formalized in a form of a performance model which can be used to predict the performance of a distributed system given network parameters and number of processing nodes. The proposed algorithm introduces a novel approach to memory distribution of block-wise image processing operations and discusses three different ways to process pixels along the partitioning axes of the distributed images. The distribution and parallelization of the recognition algorithm gains up to as much as 12.5 times performance in matching and 10.2 times in enhancement. / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2012.

The topic of the research is granting privacy and authentication in Mobile Ad Hoc Networks (MANETs) that are under the authority of a certificate authority (CA) that is often not available. Privacy is implemented in the form of an anonymous identity or pseudonym, and ideally has no link to the real identity. Authentication and privacy are conflicting tenets of security as the former ensures a user's identity is always known and certified and the latter hides a user's identity. The goal was to determine if it is possible for a node to produce pseudonyms for itself that would carry the authority of the CA while being traceable by the CA, and would be completely anonymous. The first part of the dissertation places Vehicular Ad Hoc Networks (VANETs) into context, as this is the application of MANETs considered. This is followed by a detailed survey and analysis of the privacy aspects of VANETs. Thereafter, the solution is proposed, documented and analysed. Lastly, the dissertation is concluded and the contributions made are listed. The solution implements a novel approach for making proxies readily available to vehicles, and does indeed incorporate privacy and authentication in VANETs such that the pseudonyms produced are always authentic and traceable. / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2012.