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This thesis investigates the problem of reliably estimating attitude from panoramic imagery in cluttered environments. Accurate attitude is an essential input to the stabilisation systems of autonomous aerial vehicles. A new camera system which combines a CCD camera, UltraViolet (UV) filters and a panoramic mirror-lens is designed. Drawing on biological inspiration from the Ocelli organ possessed by certain insects, UV filtered images are used to enhance the contrast between the sky and ground and mitigate the effect of the sun. A novel method for real–time horizon-based attitude estimation using panoramic image that is capable of estimating an aircraft pitch and roll at a low altitude in the presence of sun, clouds and occluding features such as tree, building, is developed. Also, a new method for panoramic sky/ground thresholding, consisting of a horizon– and a sun–tracking system which works effectively even when the horizon line is difficult to detect by normal thresholding methods due to flares and other effects from the presence of the sun in the image, is proposed. An algorithm for estimating the attitude from three–dimensional mapping of the horizon projected onto a 3D plane is developed. The use of optic flow to determine pitch and roll rates is investigated using the panoramic image and image interpolation algorithm (I2A). Two methods which employ sensor fusion techniques, Extended Kalman Filter (EKF) and Artificial Neural Networks (ANNs), are used to fuse unfiltered measurements from inertial sensors and the vision system. The EKF estimates gyroscope biases and also the attitude. The ANN fuses the optic flow and horizon–based attitude to provide smooth attitude estimations. The results obtained from different parts of the research are tested and validated through simulations and real flight tests.

Ventricular arrhythmias account for nearly 400,000 deaths per year in the United States alone. Electrical mapping of the ventricular activation could facilitate the diagnosis and treatment of arrhythmias, e.g. guiding catheter ablation. To date, both direct mapping and non-contact mapping techniques have been routinely used in electrophysiology labs for obtaining the electrical activity on the endocardial surface. Non-invasive functional mapping methods are also developed to estimate the electrical activity on the epicardium or on both epicardium and endocardium from the body surface measurements. Though successful, the results using above methods are all limited on the surface of the heart and thus cannot directly characterize the cardiac events originating within the myocardial wall. Our group's goal is to develop a functional mapping method to estimate the three-dimensional cardiac electrical activity from either non-invasive body surface potential maps or minimally-invasive intracavitary potential maps, by solving the so-called "inverse problem". Hence the information under the surface of the heart could be revealed to better characterize the cardiac activation. In the present thesis study, the previously developed three-dimensional cardiac electrical imaging (3DCEI) approach has been further investigated. Its function is expanded for not only estimating the global activation sequence but also reconstructing the potential at any myocardial site throughout the ventricle. New algorithms under the 3DCEI scheme are also explored for more powerful mapping capability. The performance of the enhanced 3DCEI approach is rigorously evaluated in both control and diseased swine models when the clinical settings are mimicked. The promising results validate the feasibility of estimating detailed three-dimensional cardiac activation by using the 3DCEI approach, and suggest that 3DCEI has great potential of guiding the clinical management of cardiac arrhythmias in a more efficient way.