A Neural Model of Visually Guided Steering, Obstacle Avoidance, and Route Selection

A neural model is developed to explain how humans can approach a goal object on foot while steering around obstacles to avoid collisions in a cluttered environment. The model uses optic flow from a 3D virtual reality environment to determine the position of objects based on motion discontinuities, and computes heading direction, or the direction of self-motion, from global optic flow. The cortical representation of heading interacts with the representations of a goal and obstacles such that the goal acts as an attractor of heading, while obstacles act as repellers. In addition the model maintains fixation on the goal object by generating smooth pursuit eye movements. Eye rotations can distort the optic flow field, complicating heading perception, and the model uses extraretinal signals to correct for this distortion and accurately represent heading. The model explains how motion processing mechanisms in cortical areas MT, MST, and posterior parietal cortex can be used to guide steering. The model quantitatively simulates human psychophysical data about visually-guided steering, obstacle avoidance, and route selection.Air Force Office of Scientific Research (F4960-01-1-0397); National Geospatial-Intelligence Agency (NMA201-01-1-2016); National Science Foundation (SBE-0354378); Office of Naval Research (N00014-01-1-0624

Design strategies for direct multi-scale and multi-orientation feature extraction in the log-polar domain

n/

A Portable Bio-Inspired Architecture for Efficient Robotic Vergence Control

n/

Callosal Connections of Primary Visual Cortex Predict the Spatial Spreading of Binocular Rivalry Across the Visual Hemifields

In binocular rivalry, presentation of different images to the separate eyes leads to conscious perception alternating between the two possible interpretations every few seconds. During perceptual transitions, a stimulus emerging into dominance can spread in a wave-like manner across the visual field. These traveling waves of rivalry dominance have been successfully related to the cortical magnification properties and functional activity of early visual areas, including the primary visual cortex (V1). Curiously however, these traveling waves undergo a delay when passing from one hemifield to another. In the current study, we used diffusion tensor imaging (DTI) to investigate whether the strength of interhemispheric connections between the left and right visual cortex might be related to the delay of traveling waves across hemifields. We measured the delay in traveling wave times (ΔTWT) in 19 participants and repeated this test 6 weeks later to evaluate the reliability of our behavioral measures. We found large interindividual variability but also good test–retest reliability for individual measures of ΔTWT. Using DTI in connection with fiber tractography, we identified parts of the corpus callosum connecting functionally defined visual areas V1–V3. We found that individual differences in ΔTWT was reliably predicted by the diffusion properties of transcallosal fibers connecting left and right V1, but observed no such effect for neighboring transcallosal visual fibers connecting V2 and V3. Our results demonstrate that the anatomical characteristics of topographically specific transcallosal connections predict the individual delay of interhemispheric traveling waves, providing further evidence that V1 is an important site for neural processes underlying binocular rivalry

Naturalistic depth perception and binocular vision

Humans continuously move both their eyes to redirect their foveae to objects at new depths. To correctly execute these complex combinations of saccades, vergence eye movements and accommodation changes, the visual system makes use of multiple sources of depth information, including binocular disparity and defocus. Furthermore, during development, both fine-tuning of oculomotor control as well as correct eye growth are likely driven by complex interactions between eye movements, accommodation, and the distributions of defocus and depth information across the retina. I have employed photographs of natural scenes taken with a commercial plenoptic camera to examine depth perception while varying perspective, blur and binocular disparity. Using a gaze contingent display with these natural images, I have shown that disparity and peripheral blur interact to modify eye movements and facilitate binocular fusion. By decoupling visual feedback for each eye, I have found it possible to induces both conjugate and disconjugate changes in saccadic adaptation, which helps us understand to what degree the eyes can be individually controlled. To understand the aetiology of myopia, I have developed geometric models of emmetropic and myopic eye shape, from which I have derived psychophysically testable predictions about visual function. I have then tested the myopic against the emmetropic visual system and have found that some aspects of visual function decrease in the periphery at a faster rate in best-corrected myopic observers than in emmetropes. To study the effects of different depth cues on visual development, I have investigated accommodation response and sensitivity to blur in normal and myopic subjects. This body of work furthers our understanding of oculomotor control and 3D perception, has applied implications regarding discomfort in the use of virtual reality, and provides clinically relevant insights regarding the development of refractive error and potential approaches to prevent incorrect emmetropization

Spatial context-aware person-following for a domestic robot

Domestic robots are in the focus of research in terms of service providers in households and even as robotic companion that share the living space with humans. A major capability of mobile domestic robots that is joint exploration of space. One challenge to deal with this task is how could we let the robots move in space in reasonable, socially acceptable ways so that it will support interaction and communication as a part of the joint exploration. As a step towards this challenge, we have developed a context-aware following behav- ior considering these social aspects and applied these together with a multi-modal person-tracking method to switch between three basic following approaches, namely direction-following, path-following and parallel-following. These are derived from the observation of human-human following schemes and are activated depending on the current spatial context (e.g. free space) and the relative position of the interacting human. A combination of the elementary behaviors is performed in real time with our mobile robot in different environments. First experimental results are provided to demonstrate the practicability of the proposed approach