High-Profile VRU Detection on Resource-Constrained Hardware Using YOLOv3/v4 on BDD100K

[EN] Vulnerable Road User (VRU) detection is a major application of object detection with the aim of helping reduce accidents in advanced driver-assistance systems and enabling the development of autonomous vehicles. Due to intrinsic complexity present in computer vision and to limitations in processing capacity and bandwidth, this task has not been completely solved nowadays. For these reasons, the well established YOLOv3 net and the new YOLOv4 one are assessed by training them on a huge, recent on-road image dataset (BDD100K), both for VRU and full on-road classes, with a great improvement in terms of detection quality when compared to their MS-COCO-trained generic correspondent models from the authors but with negligible costs in forward pass time. Additionally, some models were retrained when replacing the original Leaky ReLU convolutional activation functions from original YOLO implementation with two cutting-edge activation functions: the self-regularized non-monotonic function (MISH) and its self-gated counterpart (SWISH), with significant improvements with respect to the original activation function detection performance. Additionally, some trials were carried out including recent data augmentation techniques (mosaic and cutmix) and some grid size configurations, with cumulative improvements over the previous results, comprising different performance-throughput trade-offs.PRYSTINE has received funding within the Electronic Components and Systems for European Leadership Joint Undertaking (ECSEL JU) in collaboration with the European Union's H2020 Framework Program and National Authorities, under Grant No. 783190. It has also been funded by Generalitat Valenciana through the "Instituto Valenciano de Competitividad Empresarial-IVACE".Ortiz, V.; Salvador Igual, I.; Del Tejo Catalá, O.; Perez-Cortes, J. (2020). High-Profile VRU Detection on Resource-Constrained Hardware Using YOLOv3/v4 on BDD100K. Journal of imaging. 6(12):1-17. https://doi.org/10.3390/jimaging6120142S117612Constant, A., & Lagarde, E. (2010). Protecting Vulnerable Road Users from Injury. PLoS Medicine, 7(3), e1000228. doi:10.1371/journal.pmed.1000228Bassani, M., Rossetti, L., & Catani, L. (2020). Spatial analysis of road crashes involving vulnerable road users in support of road safety management strategies. Transportation Research Procedia, 45, 394-401. doi:10.1016/j.trpro.2020.03.031Zhang, S., Benenson, R., Omran, M., Hosang, J., & Schiele, B. (2018). Towards Reaching Human Performance in Pedestrian Detection. IEEE Transactions on Pattern Analysis and Machine Intelligence, 40(4), 973-986. doi:10.1109/tpami.2017.2700460Viola, P., Jones, M. J., & Snow, D. (2005). Detecting Pedestrians Using Patterns of Motion and Appearance. International Journal of Computer Vision, 63(2), 153-161. doi:10.1007/s11263-005-6644-8Dollar, P., Tu, Z., Perona, P., & Belongie, S. (2009). Integral Channel Features. Procedings of the British Machine Vision Conference 2009. doi:10.5244/c.23.91Dollar, P., Appel, R., Belongie, S., & Perona, P. (2014). Fast Feature Pyramids for Object Detection. IEEE Transactions on Pattern Analysis and Machine Intelligence, 36(8), 1532-1545. doi:10.1109/tpami.2014.2300479Pae, D. S., Choi, I. H., Kang, T. K., & Lim, M. T. (2018). Vehicle detection framework for challenging lighting driving environment based on feature fusion method using adaptive neuro-fuzzy inference system. International Journal of Advanced Robotic Systems, 15(2), 172988141877054. doi:10.1177/1729881418770545Murugan, V., & Vijaykumar, V. R. (2018). Automatic Moving Vehicle Detection and Classification Based on Artificial Neural Fuzzy Inference System. Wireless Personal Communications, 100(3), 745-766. doi:10.1007/s11277-018-5347-8Ren, S., He, K., Girshick, R., & Sun, J. (2017). Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks. IEEE Transactions on Pattern Analysis and Machine Intelligence, 39(6), 1137-1149. doi:10.1109/tpami.2016.2577031Liu, Z., Chen, Z., Li, Z., & Hu, W. (2018). An Efficient Pedestrian Detection Method Based on YOLOv2. Mathematical Problems in Engineering, 2018, 1-10. doi:10.1155/2018/3518959Lan, W., Dang, J., Wang, Y., & Wang, S. (2018). Pedestrian Detection Based on YOLO Network Model. 2018 IEEE International Conference on Mechatronics and Automation (ICMA). doi:10.1109/icma.2018.8484698Ortiz Castelló, V., del Tejo Catalá, O., Salvador Igual, I., & Perez-Cortes, J.-C. (2020). Real-time on-board pedestrian detection using generic single-stage algorithms and on-road databases. International Journal of Advanced Robotic Systems, 17(5), 172988142092917. doi:10.1177/1729881420929175Cao, J., Song, C., Peng, S., Song, S., Zhang, X., Shao, Y., & Xiao, F. (2020). Pedestrian Detection Algorithm for Intelligent Vehicles in Complex Scenarios. Sensors, 20(13), 3646. doi:10.3390/s20133646Li, X., Liu, Y., Zhao, Z., Zhang, Y., & He, L. (2018). A Deep Learning Approach of Vehicle Multitarget Detection from Traffic Video. Journal of Advanced Transportation, 2018, 1-11. doi:10.1155/2018/7075814Huang, Y.-Q., Zheng, J.-C., Sun, S.-D., Yang, C.-F., & Liu, J. (2020). Optimized YOLOv3 Algorithm and Its Application in Traffic Flow Detections. Applied Sciences, 10(9), 3079. doi:10.3390/app10093079Jamtsho, Y., Riyamongkol, P., & Waranusast, R. (2021). Real-time license plate detection for non-helmeted motorcyclist using YOLO. ICT Express, 7(1), 104-109. doi:10.1016/j.icte.2020.07.008Druml, N., Macher, G., Stolz, M., Armengaud, E., Watzenig, D., Steger, C., … Roedig, H. (2018). PRYSTINE - PRogrammable sYSTems for INtelligence in AutomobilEs. 2018 21st Euromicro Conference on Digital System Design (DSD). doi:10.1109/dsd.2018.00107Dollar, P., Wojek, C., Schiele, B., & Perona, P. (2012). Pedestrian Detection: An Evaluation of the State of the Art. IEEE Transactions on Pattern Analysis and Machine Intelligence, 34(4), 743-761. doi:10.1109/tpami.2011.155Yolo v4, v3 and v2 for Windows and Linuxhttps://github.com/AlexeyAB/darkne

A Hybrid Approch Tomato Diseases Detection At Early Stage

 In traditional farming practice, skilled people are hired to manually examine the land and detect the presence of diseases through visual inspection, but the visual inspection method is ineffective. High accuracy of disease detection is one of the most important factors in crop production and reducing crop losses. Meanwhile, the evolution of deep convolutional neural networks for image classification has rapidly improved the accuracy of object detection, classification and system recognition. Previous tomato detection methods based on faster region convolutional neural network (RCNN) are less efficient in terms of accuracy. Researchers have used many methods to detect tomato leaf diseases, but their accuracy is not optimal. This study presents a Faster RCNN-based deep learning model for the detection of three tomato leaf diseases (late blight, mosaic virus, and leaf septoria). The methodology presented in this paper consists of four main steps. The first step is pre-processing. At the second stage, segmentation was done using fuzzy C Means. In the third step, feature extraction was performed with ResNet 50. In the fourth step, classification was performed with Faster RCNN to detect tomato leaf diseases. Two evaluation parameters precision and accuracy are used to compare the proposed model with other existing approaches. The proposed model has the highest accuracy of 98.6% in detecting tomato leaf diseases. In addition, the work can be extended to train the model for other types of tomato diseases, such as leaf mold, spider mites, as well as to detect diseases of other crops, such as potatoes, peanuts, etc

Remote Sensing of the Oceans

This book covers different topics in the framework of remote sensing of the oceans. Latest research advancements and brand-new studies are presented that address the exploitation of remote sensing instruments and simulation tools to improve the understanding of ocean processes and enable cutting-edge applications with the aim of preserving the ocean environment and supporting the blue economy. Hence, this book provides a reference framework for state-of-the-art remote sensing methods that deal with the generation of added-value products and the geophysical information retrieval in related fields, including: Oil spill detection and discrimination; Analysis of tropical cyclones and sea echoes; Shoreline and aquaculture area extraction; Monitoring coastal marine litter and moving vessels; Processing of SAR, HF radar and UAV measurements

DCCAM-MRNet: Mixed Residual Connection Network with Dilated Convolution and Coordinate Attention Mechanism for Tomato Disease Identification

Tomato is an important and fragile crop. During the course of its development, it is frequently contaminated with bacteria or viruses. Tomato leaf diseases may be detected quickly and accurately, resulting in increased productivity and quality. Because of the intricate development environment of tomatoes and their inconspicuous disease spot features and small spot area, present machine vision approaches fail to reliably recognize tomato leaves. As a result, this research proposes a novel paradigm for detecting tomato leaf disease. The INLM (integration nonlocal means) filtering algorithm, for example, decreases the interference of surrounding noise on the features. Then, utilizing ResNeXt50 as the backbone, we create DCCAM-MRNet, a novel tomato image recognition network. Dilated Convolution (DC) was employed in STAGE 1 of the DCCAM-MRNet to extend the network\u27s perceptual area and locate the scattered disease spots on tomato leaves. The coordinate attention (CA) mechanism is then introduced to record cross-channel information and direction- and position-sensitive data, allowing the network to more accurately detect localized tomato disease spots. Finally, we offer a mixed residual connection (MRC) technique that combines residual block (RS-Block) and transformed residual block (TR-Block) (TRS-Block). This strategy can increase the network\u27s accuracy while also reducing its size. The DCCAM-classification MRNet\u27s accuracy is 94.3 percent, which is higher than the existing network, and the number of parameters is 0.11 M lesser than the backbone network ResNeXt50, according to the experimental results. As a result, combining INLM and DCCAM-MRNet to identify tomato diseases is a successful strategy

Visualizing multidimensional data similarities:Improvements and applications

Multidimensional data is increasingly more prominent and important in many application domains. Such data typically consist of a large set of elements, each of which described by several measurements (dimensions). During the design of techniques and tools to process this data, a key component is to gather insights into their structure and patterns, which can be described by the notion of similarity between elements. Among these techniques, multidimensional projections and similarity trees can effectively capture similarity patterns and handle a large number of data elements and dimensions. However, understanding and interpreting these patterns in terms of the original data dimensions is still hard. This thesis addresses the development of visual explanatory techniques for the easy interpretation of similarity patterns present in multidimensional projections and similarity trees, by several contributions. First, we propose methods that make the computation of similarity trees efficient for large datasets, and also enhance its visual representation to allow the exploration of more data in a limited screen. Secondly, we propose methods for the visual explanation of multidimensional projections in terms of groups of similar elements. These are automatically annotated to describe which dimensions are more important to define their notion of group similarity. We show next how these explanatory mechanisms can be adapted to handle both static and time-dependent data. Our proposed techniques are designed to be easy to use, work nearly automatically, and are demonstrated on a variety of real-world large data obtained from image collections, text archives, scientific measurements, and software engineering

Methodical basis for landscape structure analysis and monitoring: inclusion of ecotones and small landscape elements

Habitat variation is considered as an expression of biodiversity at landscape level in addition to genetic variation and species variation. Thus, effective methods for measuring habitat pattern at landscape level can be used to evaluate the status of biological conservation. However, the commonly used model (i.e. patch-corridor-matrix) for spatial pattern analysis has deficiencies. This model assumes discrete structures within the landscape without explicit consideration of “transitional zones” or “gradients” between patches. The transitional zones, often called “ecotones”, are dynamic and have a profound influence on adjacent ecosystems. Besides, this model takes landscape as a flat surface without consideration of the third spatial dimension (elevation). This will underestimate the patches’ size and perimeter as well as distances between patches especially in mountainous regions. Thus, the mosaic model needs to be adapted for more realistic and more precise representation of habitat pattern regarding to biodiversity assessment. Another part of information that has often been ignored is “small biotopes” inside patches (e.g. hedgerows, tree rows, copse, and scattered trees), which leads to within-patch heterogeneity being underestimated. The present work originates from the integration of the third spatial dimension in land-cover classification and landscape structure analysis. From the aspect of data processing, an integrated approach of Object-Based Image Analysis (OBIA) and Pixel-Based Image Analysis (PBIA) is developed and applied on multi-source data set (RapidEye images and Lidar data). At first, a general OBIA procedure is developed according to spectral object features based on RapidEye images for producing land-cover maps. Then, based on the classified maps, pixel-based algorithms are designed for detection of the small biotopes and ecotones using a Normalized Digital Surface Model (NDSM) which is derived from Lidar data. For describing habitat pattern under three-dimensional condition, several 3D-metrics (measuring e.g. landscape diversity, fragmentation/connectivity, and contrast) are proposed with spatial consideration of the ecological functions of small biotopes and ecotones. The proposed methodology is applied in two real-world examples in Germany and China. The results are twofold. First, it shows that the integrated approach of object-based and pixel-based image processing is effective for land-cover classification on different spatial scales. The overall classification accuracies of the main land-cover maps are 92 % in the German test site and 87 % in the Chinese test site. The developed Red Edge Vegetation Index (REVI) which is calculated from RapidEye images has been proved more efficient than the traditionally used Normalized Differenced Vegetation Index (NDVI) for vegetation classification, especially for the extraction of the forest mask. Using NDSM data, the third dimension is helpful for the identification of small biotopes and height gradient on forest boundary. The pixel-based algorithm so-called “buffering and shrinking” is developed for the detection of tree rows and ecotones on forest/field boundary. As a result the accuracy of detecting small biotopes is 80 % and four different types of ecotones are detected in the test site. Second, applications of 3D-metrics in two varied test sites show the frequently-used landscape diversity indices (i.e. Shannon’s diversity (SHDI) and Simpson’s diversity (SIDI)) are not sufficient for describing the habitats diversity, as they quantify only the habitats composition without consideration on habitats spatial distribution. The modified 3D-version of Effective Mesh Size (MESH) that takes ecotones into account leads to a realistic quantification of habitat fragmentation. In addition, two elevation-based contrast indices (i.e. Area-Weighted Edge Contrast (AWEC) and Total Edge Contrast Index (TECI)) are used as supplement to fragmentation metrics. Both ecotones and small biotopes are incorporated into the contrast metrics to take into account their edge effect in habitat pattern. This can be considered as a further step after fragmentation analysis with additional consideration of the edge permeability in the landscape structure analysis. Furthermore, a vector-based algorithm called “multi-buffer” approach is suggested for analyzing ecological networks based on land-cover maps. It considers small biotopes as stepping stones to establish connections between patches. Then, corresponding metrics (e.g. Effective Connected Mesh Size (ECMS)) are proposed based on the ecological networks. The network analysis shows the response of habitat connectivity to different dispersal distances in a simple way. Those connections through stepping stones act as ecological indicators of the “health” of the system, indicating the interpatch communications among habitats. In summary, it can be stated that habitat diversity is an essential level of biodiversity and methods for quantifying habitat pattern need to be improved and adapted to meet the demands for landscape monitoring and biodiversity conservation. The approaches presented in this work serve as possible methodical solution for fine-scale landscape structure analysis and function as “stepping stones” for further methodical developments to gain more insights into the habitat pattern.Die Lebensraumvielfalt ist neben der genetischen Vielfalt und der Artenvielfalt eine wesentliche Ebene der Biodiversität. Da diese Ebenen miteinander verknüpft sind, können Methoden zur Messung der Muster von Lebensräumen auf Landschaftsebene erfolgreich angewandt werden, um den Zustand der Biodiversität zu bewerten. Das zur räumlichen Musteranalyse auf Landschaftsebene häufig verwendete Patch-Korridor-Matrix-Modell weist allerdings einige Defizite auf. Dieses Modell geht von diskreten Strukturen in der Landschaft aus, ohne explizite Berücksichtigung von „Übergangszonen“ oder „Gradienten“ zwischen den einzelnen Landschaftselementen („Patches“). Diese Übergangszonen, welche auch als „Ökotone“ bezeichnet werden, sind dynamisch und haben einen starken Einfluss auf benachbarte Ökosysteme. Außerdem wird die Landschaft in diesem Modell als ebene Fläche ohne Berücksichtigung der dritten räumlichen Dimension (Höhe) betrachtet. Das führt dazu, dass die Flächengrößen und Umfänge der Patches sowie Distanzen zwischen den Patches besonders in reliefreichen Regionen unterschätzt werden. Daher muss das Patch-Korridor-Matrix-Modell für eine realistische und präzise Darstellung der Lebensraummuster für die Bewertung der biologischen Vielfalt angepasst werden. Ein weiterer Teil der Informationen, die häufig in Untersuchungen ignoriert werden, sind „Kleinbiotope“ innerhalb größerer Patches (z. B. Feldhecken, Baumreihen, Feldgehölze oder Einzelbäume). Dadurch wird die Heterogenität innerhalb von Patches unterschätzt. Die vorliegende Arbeit basiert auf der Integration der dritten räumlichen Dimension in die Landbedeckungsklassifikation und die Landschaftsstrukturanalyse. Mit Methoden der räumlichen Datenverarbeitung wurde ein integrierter Ansatz von objektbasierter Bildanalyse (OBIA) und pixelbasierter Bildanalyse (PBIA) entwickelt und auf einen Datensatz aus verschiedenen Quellen (RapidEye-Satellitenbilder und Lidar-Daten) angewendet. Dazu wird zunächst ein OBIA-Verfahren für die Ableitung von Hauptlandbedeckungsklassen entsprechend spektraler Objekteigenschaften basierend auf RapidEye-Bilddaten angewandt. Anschließend wurde basierend auf den klassifizierten Karten, ein pixelbasierter Algorithmus für die Erkennung von kleinen Biotopen und Ökotonen mit Hilfe eines normalisierten digitalen Oberflächenmodells (NDSM), welches das aus LIDAR-Daten abgeleitet wurde, entwickelt. Zur Beschreibung der dreidimensionalen Charakteristika der Lebensraummuster unter der räumlichen Betrachtung der ökologischen Funktionen von kleinen Biotopen und Ökotonen, werden mehrere 3D-Maße (z. B. Maße zur landschaftlichen Vielfalt, zur Fragmentierung bzw. Konnektivität und zum Kontrast) vorgeschlagen. Die vorgeschlagene Methodik wird an zwei realen Beispielen in Deutschland und China angewandt. Die Ergebnisse zeigen zweierlei. Erstens zeigt es sich, dass der integrierte Ansatz der objektbasierten und pixelbasierten Bildverarbeitung effektiv für die Landbedeckungsklassifikation auf unterschiedlichen räumlichen Skalen ist. Die Klassifikationsgüte insgesamt für die Hauptlandbedeckungstypen beträgt 92 % im deutschen und 87 % im chinesischen Testgebiet. Der eigens entwickelte Red Edge-Vegetationsindex (REVI), der sich aus RapidEye-Bilddaten berechnen lässt, erwies sich für die Vegetationsklassifizierung als effizienter verglichen mit dem traditionell verwendeten Normalized Differenced Vegetation Index (NDVI), insbesondere für die Gewinnung der Waldmaske. Im Rahmen der Verwendung von NDSM-Daten erwies sich die dritte Dimension als hilfreich für die Identifizierung von kleinen Biotopen und dem Höhengradienten, beispielsweise an der Wald/Feld-Grenze. Für den Nachweis von Baumreihen und Ökotonen an der Wald/Feld-Grenze wurde der sogenannte pixelbasierte Algorithmus „Pufferung und Schrumpfung“ entwickelt. Im Ergebnis konnten kleine Biotope mit einer Genauigkeit von 80 % und vier verschiedene Ökotontypen im Testgebiet detektiert werden. Zweitens zeigen die Ergebnisse der Anwendung der 3D-Maße in den zwei unterschiedlichen Testgebieten, dass die häufig genutzten Landschaftsstrukturmaße Shannon-Diversität (SHDI) und Simpson-Diversität (SIDI) nicht ausreichend für die Beschreibung der Lebensraumvielfalt sind. Sie quantifizieren lediglich die Zusammensetzung der Lebensräume, ohne Berücksichtigung der räumlichen Verteilung und Anordnung. Eine modifizierte 3D-Version der Effektiven Maschenweite (MESH), welche die Ökotone integriert, führt zu einer realistischen Quantifizierung der Fragmentierung von Lebensräumen. Darüber hinaus wurden zwei höhenbasierte Kontrastindizes, der flächengewichtete Kantenkontrast (AWEC) und der Gesamt-Kantenkontrast Index (TECI), als Ergänzung der Fragmentierungsmaße entwickelt. Sowohl Ökotone als auch Kleinbiotope wurden in den Berechnungen der Kontrastmaße integriert, um deren Randeffekte im Lebensraummuster zu berücksichtigen. Damit kann als ein weiterer Schritt nach der Fragmentierungsanalyse die Randdurchlässigkeit zusätzlich in die Landschaftsstrukturanalyse einbezogen werden. Außerdem wird ein vektorbasierter Algorithmus namens „Multi-Puffer“-Ansatz für die Analyse von ökologischen Netzwerken auf Basis von Landbedeckungskarten vorgeschlagen. Er berücksichtigt Kleinbiotope als Trittsteine, um Verbindungen zwischen Patches herzustellen. Weiterhin werden entsprechende Maße, z. B. die Effective Connected Mesh Size (ECMS), für die Analyse der ökologischen Netzwerke vorgeschlagen. Diese zeigen die Auswirkungen unterschiedlicher angenommener Ausbreitungsdistanzen von Organismen bei der Ableitung von Biotopverbundnetzen in einfacher Weise. Diese Verbindungen zwischen Lebensräumen über Trittsteine hinweg dienen als ökologische Indikatoren für den „gesunden Zustand“ des Systems und zeigen die gegenseitigen Verbindungen zwischen den Lebensräumen. Zusammenfassend kann gesagt werden, dass die Vielfalt der Lebensräume eine wesentliche Ebene der Biodiversität ist. Die Methoden zur Quantifizierung der Lebensraummuster müssen verbessert und angepasst werden, um den Anforderungen an ein Landschaftsmonitoring und die Erhaltung der biologischen Vielfalt gerecht zu werden. Die in dieser Arbeit vorgestellten Ansätze dienen als mögliche methodische Lösung für eine feinteilige Landschaftsstrukturanalyse und fungieren als ein „Trittsteine” auf dem Weg zu weiteren methodischen Entwicklungen für einen tieferen Einblick in die Muster von Lebensräumen

Machine learning methods for discriminating natural targets in seabed imagery

The research in this thesis concerns feature-based machine learning processes and methods for discriminating qualitative natural targets in seabed imagery. The applications considered, typically involve time-consuming manual processing stages in an industrial setting. An aim of the research is to facilitate a means of assisting human analysts by expediting the tedious interpretative tasks, using machine methods. Some novel approaches are devised and investigated for solving the application problems. These investigations are compartmentalised in four coherent case studies linked by common underlying technical themes and methods. The first study addresses pockmark discrimination in a digital bathymetry model. Manual identification and mapping of even a relatively small number of these landform objects is an expensive process. A novel, supervised machine learning approach to automating the task is presented. The process maps the boundaries of ≈ 2000 pockmarks in seconds - a task that would take days for a human analyst to complete. The second case study investigates different feature creation methods for automatically discriminating sidescan sonar image textures characteristic of Sabellaria spinulosa colonisation. Results from a comparison of several textural feature creation methods on sonar waterfall imagery show that Gabor filter banks yield some of the best results. A further empirical investigation into the filter bank features created on sonar mosaic imagery leads to the identification of a useful configuration and filter parameter ranges for discriminating the target textures in the imagery. Feature saliency estimation is a vital stage in the machine process. Case study three concerns distance measures for the evaluation and ranking of features on sonar imagery. Two novel consensus methods for creating a more robust ranking are proposed. Experimental results show that the consensus methods can improve robustness over a range of feature parameterisations and various seabed texture classification tasks. The final case study is more qualitative in nature and brings together a number of ideas, applied to the classification of target regions in real-world sonar mosaic imagery. A number of technical challenges arose and these were surmounted by devising a novel, hybrid unsupervised method. This fully automated machine approach was compared with a supervised approach in an application to the problem of image-based sediment type discrimination. The hybrid unsupervised method produces a plausible class map in a few minutes of processing time. It is concluded that the versatile, novel process should be generalisable to the discrimination of other subjective natural targets in real-world seabed imagery, such as Sabellaria textures and pockmarks (with appropriate features and feature tuning.) Further, the full automation of pockmark and Sabellaria discrimination is feasible within this framework

3D Object Recognition Based On Constrained 2D Views

The aim of the present work was to build a novel 3D object recognition system capable of classifying man-made and natural objects based on single 2D views. The approach to this problem has been one motivated by recent theories on biological vision and multiresolution analysis. The project's objectives were the implementation of a system that is able to deal with simple 3D scenes and constitutes an engineering solution to the problem of 3D object recognition, allowing the proposed recognition system to operate in a practically acceptable time frame. The developed system takes further the work on automatic classification of marine phytoplank- (ons, carried out at the Centre for Intelligent Systems, University of Plymouth. The thesis discusses the main theoretical issues that prompted the fundamental system design options. The principles and the implementation of the coarse data channels used in the system are described. A new multiresolution representation of 2D views is presented, which provides the classifier module of the system with coarse-coded descriptions of the scale-space distribution of potentially interesting features. A multiresolution analysis-based mechanism is proposed, which directs the system's attention towards potentially salient features. Unsupervised similarity-based feature grouping is introduced, which is used in coarse data channels to yield feature signatures that are not spatially coherent and provide the classifier module with salient descriptions of object views. A simple texture descriptor is described, which is based on properties of a special wavelet transform. The system has been tested on computer-generated and natural image data sets, in conditions where the inter-object similarity was monitored and quantitatively assessed by human subjects, or the analysed objects were very similar and their discrimination constituted a difficult task even for human experts. The validity of the above described approaches has been proven. The studies conducted with various statistical and artificial neural network-based classifiers have shown that the system is able to perform well in all of the above mentioned situations. These investigations also made possible to take further and generalise a number of important conclusions drawn during previous work carried out in the field of 2D shape (plankton) recognition, regarding the behaviour of multiple coarse data channels-based pattern recognition systems and various classifier architectures. The system possesses the ability of dealing with difficult field-collected images of objects and the techniques employed by its component modules make possible its extension to the domain of complex multiple-object 3D scene recognition. The system is expected to find immediate applicability in the field of marine biota classification