We describe our overall approach to building robot vision systems, and the conceptual systems architecture as a network of agents, which run in parallel, and cooperate to achieve the system’s goals. We present the current state of the 3D Feature-Based Tracker, a robot vision system for tracking and segmenting the 3D motion of objects using image input from a calibrated stereo pair of video cameras. The system runs in a multi-level cycle of prediction and verification or correction. The currently modelled 3D positions and velocities of the feature points are extrapolated a short time into the future to yield predictions of 3D position. These 3D predictions are projected into the two stereo views, and are used to guide a fast and highly focused visual search for the feature points. The image positions at which the features are re-acquired are back-projected in 3D space in order to update the 3D positions and velocities. At a higher level, features are dynamically grouped into clusters with common 3D motion. Predictions from the cluster level can be fed to the lower level to correct errors in the point-wise tracking.

Effective interactive computing methods are needed in a number of specific areas of geophysical interpretation, even though the basic algorithms have been established. One approach to raise the quality of interpretation is to promote better interaction between human and the computer. The thesis is concerned with improving this dialog in three areas: automatic event picking, data visualization and sparse data imaging. Fully automatic seismic event picking methods work well in relatively good conditions. They collapse when the signal-to-noise ratio is low and the structure of the subsurface is complex. The interactive seismic event picking system described here blends the interpreter's guidance and judgment into the computer program, as it can bring the user into the loop to make subjective decisions when the picking problem is complicated. Several interactive approaches for 2-D event picking and 3-D horizon tracking have been developed. Envelope (or amplitude) threshold detection for first break picking is based on the assumption that the power of the signal is larger than that of the noise. Correlation and instantaneous phase pickers are designed for and better suited to picking other arrivals. The former is based on the cross-correlation function, and a model trace (or model traces) selected by the interpreter is needed. The instantaneous phase picker is designed to track spatial variations in the instantaneous phase of the analytic form of the arrival. The picking options implemented into the software package SeisWin were tested on real data drawn from many sources, such as full waveform sonic borehole logs, seismic reflection surveys and borehole radar profiles, as well as seven of the most recent 3-D seismic surveys conducted over Australian coal mines. The results show that the interactive picking system in SeisWin is efficient and tolerant. The 3-D horizon tracking method developed especially attracts industrial users. The visualization of data is also a part of the study, as picking accuracy, and indeed the whole of seismic interpretation depends largely on the quality of the final display. The display is often the only window through which an interpreter can see the earth's substructures. Display is a non-linear operation. Adjustments made to meet display deficiencies such as automatic gain control (AGC) have an important and yet ill-documented effect on the performance of pattern recognition operators, both human and computational. AGC is usually implemented in one dimension. Some of the tools in wide spread use for two dimensional image processing which are of great value in the local gain control of conventional seismic sections such as edge detectors, histogram equalisers, high-pass filters, shaded relief are discussed. Examples are presented to show the relative effectiveness of various display options. Conventional migration requires dense arrays with uniform coverage and uniform illumination of targets. There are, however, many instances in which these ideals can not be approached. Event migration and common tangent plane stacking procedures were developed especially for sparse data sets as a part of the research effort underlying this thesis. Picked-event migration migrates the line between any two points on different traces on the time section to the base map. The interplay between the space and time domain gives the interpreter an immediate view of mapping. Tangent plane migration maps the reflector by accumulating the energy from any two possible reflecting points along the common tangent lines on the space plane. These methods have been applied to both seismic and borehole-radar data and satisfactory results have been achieved.

Doctor of Philosophy (PhD) / This thesis addresses the issues arising in range-only localisation and tracking using Radio Frequency Received Signal Strength Indicator measurements. One of the key issues in Radio Frequency (RF) based localisation and tracking applications is to obtain an accurate sensor representation. Such a sensor model is one of the prerequisites to achieve high accuracy and precision in the localisation and tracking task. The sensor models used at present for this task are very simplistic, and as a consequence are unable to achieve highly accurate and precise localisation. While such an accurate sensor description is desirable it has not been presented for RF sensors. This thesis addresses the task of obtaining an accurate sensor model for RF sensors. The major drawbacks of the most commonly used model, the nth power model, are demonstrated. A new model to satisfy the necessary requirements for high accuracy localisation is developed. This model is based on theoretical considerations and experimental data. It depicts the real occurring behaviour of RF sensors more closely than the models used so far for RF based range-only localisation. The use of this better sensor representation offers the possibility of achieving more accurate localisation. The expected performance of the alternative sensor model is compared to the commonly used nth power model. Furthermore, the inherent properties of the new sensor model are presented and their ramifications with regards to the goal of achieving highly accurate localisation are discussed. In addition to the sensor model development, the well-known probabilistic filtering techniques Kalman Filter, Particle Filter and Histogram Filter are compared and used to implement 1-dimensional and 2-dimensional range-only trackers. The filtering techniques are evaluated with respect to their suitability for appropriately handling the new multi-modal sensor model and the resulting multi-modal state distributions, and to provide correct and conclusive localisation and tracking results. Results from experiments using real data obtained in outdoor environments with a prototype RF localisation system as well as results obtained from simulations are presented in this thesis to validate the theoretical findings and the newly developed sensor model.

Dissertation (Ph.D.)--Auburn University, 2005. / Abstract. Vita. Includes bibliographic references.

Thesis (Ph.D.)--Hong Kong University of Science and Technology, 2007. / Includes bibliographical references (leaves 113-124). Also available in electronic version.

Thesis (Ph. D.)--Michigan State University. Dept. of Electrical and Computer Engineering, 2006. / Title from PDF t.p. (viewed on Nov. 17, 2008) Includes bibliographical references (p. 181-187). Also issued in print.

Thesis (M.S.)--Virginia Polytechnic Institute and State University, 2005. / Vita. Includes bibliographical references. Available also electronically on the Internet.

Thesis (Ph.D.)--Syracuse University, 2007. / "Publication number: AAT 3295553."

Heidelberg, Univ., Diplomarb., 2000.

Thesis (Ph. D.)--Duke University, 2007.