You can try to run the restore without upgrading, however if you receive an error "unable to create selection list" then you'll need to upgrade. A few people have received this error, see the forum post below, it fixed it for this person:
http://forums.veritas.com/discussions/thread.jspa?forumID=103&threadID=54355&messageID=4399616∀
You can download v10.1 (10d) from the link below:
http://seer.support.veritas.com/docs/279332.htm
Also, with the error you are receiving, you must run an inventory on every tape used for the backup you want to restore from. This will insert the media into Backup Exec's media database. Then you can run the catalog.