To the Graduate Council: I am submitting herewith a thesis written by ...

Acknowledgementsii“Experience is the toughest of teachers, she gives me tests first and lessons later.What I learn is simply information, Experience of information is knowledge.I've learnt that science is organized knowledge, but wisdom is organized life.And most importantly, I have learnt that I definitely have a lot more to learn…!”It was not long ago when I used to think that this section of the document was justanother formality until I realized its significance as a medium to express my gratitude toall the people without whose contribution this work that I am presenting would haveremained a dream.Words are not enough to express what they have done to me. They have given me thelife, the vision and their happiness for my well being and but for their monotonicallyincreasing affection I am sure I would not be what I am today. It is my pleasure todedicate this work to my parents Chellappa Sukumar and Malathi Sukumar.There is an adage that says “You can only take the horse to the pond but cannot make itdrink”. It has been an excellent learning experience under the academic guidance of Dr.Mongi Abidi. He showed me the pond in the Imaging, Robotics and Intelligent SystemsLab and provided me with the right kind of academic, financial and philosophicalsupport all through my pursuit.I shall never forget the quotation on his desk “It is not important what you learn but it isimportant how you teach it to others”. It takes a lot to be an unselfish teacher that youhave been to me. “Thanks a million Dr. Page”. I should thank Dr. Andrei Gribok for thelively discussions of high technical impact on this work. I would like to take thisopportunity to appreciate the efforts of Dr. Andreas Koschan and Dr. Besma Abidiwhose rigorous review and feedback has added to my learning experience in the lab. Dr.Roberts has helped me with the documentation and review of my work. It is not fair if Ido not mention the efforts of Tak Motoyama in the data acquisition process.A significant amount of the learning process at the graduate level has to be attributed tomy peers at the lab. Faysal, Brad and Yohan have been my inspirations towards a PhDdegree and the weekly brainstorming sessions with them have been a good platform tolaunch new ideas. I would like to extend a sincere thanks to Umayal for bequeathing herexperience with the IVP Ranger to me and I shall never forget our evenings at the“Motor pool” scanning under vehicle range data. It’s my pleasure to acknowledgeAshwin, Madhan, Sampath, and Rishi with whom I share “the” cherishable moments atKnoxville.Sincere thanks to you all…