Thesis (M.Sc.)--York University, 2008. Graduate Programme in Biology. / Typescript. Includes bibliographical references (leaves 87-100). Also available on the Internet. MODE OF ACCESS via web browser by entering the following URL: http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&res_dat=xri:pqdiss&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&rft_dat=xri:pqdiss:MR51629

Thesis (M.A.)--York University, 2008. Graduate Programme in Psychology. / Typescript. Includes bibliographical references (leaves 72-94). Also available on the Internet. MODE OF ACCESS via web browser by entering the following URL: http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&res_dat=xri:pqdiss&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&rft_dat=xri:pqdiss:MR45951

No description available.

Thesis (Ph.D.)--University of Alabama at Birmingham, 2010. / Title from PDF title page (viewed on July 8, 2010). Includes bibliographical references (p.169-183).

No description available.

This thesis describes a system which is able to track the pose of a hand-held camera as it moves around a scene. The system builds a 3D map of point landmarks in the world while tracking the pose of the camera relative to this map using a process called simultaneous localisation and mapping (SLAM). To achieve real-time performance, the map must be kept sparse, but rather than observing only the mapped landmarks like previous systems, observations are made of features across the entire image. Their deviation from the predicted epipolar geometry is used to further constrain the estimated inter-frame motion and so improves the overall accuracy. The consistency of the estimation is also improved by performing the estimation in a camera-centred coordinate frame. As with any such system, tracking failure is inevitable due to occlusion or sudden motion of the camera. A relocalisation module is presented which monitors the SLAM system, detects tracking failure, and then resumes tracking as soon as the conditions have improved. This relocalisation process is achieved using a new landmark recognition algorithm which is trained on-line and provides high recall and a fast recognition time. The relocalisation module can also be used to achieve place recognition for a loop closure detection system. By taking into account both the geometry and appearance information when determining a loop closure this module is able to outperform previous loop closure detection techniques used in monocular SLAM. After recognising an overlap, the map is then corrected using a novel trajectory alignment technique that is able to cope with the inherent scale ambiguity in monocular SLAM. By incorporating all of these new techniques, the system presented can perform as a robust augmented reality system, or act as a navigation tool which could be used on a mobile robot in indoor and outdoor environments.

Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2008. / Committee Chair: Vela, Patricio; Committee Member: Collins, Thomas; Committee Member: Howard, Ayanna

Thesis (Ph. D.)--University of Alabama at Birmingham, 2008. / Title from PDF title page (viewed Mar. 30, 2010). Additional advisors: Franklin R. Amthor, James E. Cox, Timothy J. Gawne, Rosalyn E. Weller. Includes bibliographical references (p. 104-114).

One of the central theoretical tenets of linear perspective is that it is based upon the idea of a monocular observer. Our lived perception, also referred to in the Renaissance as perspectiva naturalis, is always rooted in binocular vision, however, the guidelines for perspectiva artificialis often imply a single peeping eye as a starting point. In the early modern period, a number of rare art forms and instruments follow the prescriptive character of linear perspective to ludic ends. By focusing on this special class of what I would call 'monocular art forms', I will analyse the extent to which the perspectival method has been successfully applied in material form beyond the classic two-dimensional paintings. This special class of objects include: anamorphosis, peep-boxes, catoptrics, dioptric perspective tubes, and perspective instruments. It is my intention to draw attention to the different ways traditional perspectival paintings, exceptional cases such as perspective boxes and anamorphoses, and optical devices were encountered in the early modern period. In this thesis I will be examining the specific sites of each case study in depth so as to describe the various contexts - aristocratic, intellectual, religious - in which these items circulated. In Chapter 1 I illustrate a special class of perspective and anamorphic designs that confined their illusions to a peepshow. Chapter 2 examines one of the most consummate applications of the monocular principle of perspective: seventeenth-century Dutch perspective boxes. In Chapter 3, monocular catoptric designs are studied in light of the vogue for mirror cabinets in the seventeenth century. Chapter 4 examines the innovative techniques of drawing machines and their collection in early modern courts through close study of the 'perspectograph'.

The objective of this thesis is to develop a general obstacle segmentation algorithm for use on board a ground based unmanned vehicle (GUV). The algorithm processes video data captured by a single monocular camera mounted on the GUV. We make the assumption that the GUV moves on a locally planar surface, representing the ground plane. We start by deriving the equations of the expected motion field (observed by the camera) induced by the motion of the robot on the ground plane. Given an initial view of a presumably static scene, this motion field is used to generate a predicted view of the same scene after a known camera displacement. This predicted image is compared to the actual image taken at the new camera location by means of an optical flow calculation. Because the planar assumption is used to generate the predicted image, portions of the image which mismatch the prediction correspond to salient feature points on objects which lie above or below the ground plane, we consider these objects obstacles for the GUV. We assume that these salient feature points (called seed pixels ) capture the color statistics of the obstacle and use them to initialize a Bayesian region growing routine to generate a full obstacle segmentation. Alignment of the seed pixels with the obstacle is not guaranteed due to the aperture problem, however successful segmentations were obtained for natural scenes. The algorithm was tested off line using video captured by a camera mounted on a GUV.