Active Estimation of Distance in a Robotic Vision System that Replicates Human Eye Movement

Many visual cues, both binocular and monocular, provide 3D information. When an agent moves with respect to a scene, an important cue is the different motion of objects located at various distances. While a motion parallax is evident for large translations of the agent, in most head/eye systems a small parallax occurs also during rotations of the cameras. A similar parallax is present also in the human eye. During a relocation of gaze, the shift in the retinal projection of an object depends not only on the amplitude of the movement, but also on the distance of the object with respect to the observer. This study proposes a method for estimating distance on the basis of the parallax that emerges from rotations of a camera. A pan/tilt system specifically designed to reproduce the oculomotor parallax present in the human eye was used to replicate the oculomotor strategy by which humans scan visual scenes. We show that the oculomotor parallax provides accurate estimation of distance during sequences of eye movements. In a system that actively scans a visual scene, challenging tasks such as image segmentation and figure/ground segregation greatly benefit from this cue.National Science Foundation (BIC-0432104, CCF-0130851

Eye movements in the wild : Oculomotor control, gaze behavior & frames of reference

Understanding the brain's capacity to encode complex visual information from a scene and to transform it into a coherent perception of 3D space and into well-coordinated motor commands are among the outstanding questions in the study of integrative brain function. Eye movement methodologies have allowed us to begin addressing these questions in increasingly naturalistic tasks, where eye and body movements are ubiquitous and, therefore, the applicability of most traditional neuroscience methods restricted. This review explores foundational issues in (1) how oculomotor and motor control in lab experiments extrapolates into more complex settings and (2) how real-world gaze behavior in turn decomposes into more elementary eye movement patterns. We review the received typology of oculomotor patterns in laboratory tasks, and how they map onto naturalistic gaze behavior (or not). We discuss the multiple coordinate systems needed to represent visual gaze strategies, how the choice of reference frame affects the description of eye movements, and the related but conceptually distinct issue of coordinate transformations between internal representations within the brain.Peer reviewe

Using Gaze for Behavioural Biometrics

A principled approach to the analysis of eye movements for behavioural biometrics is laid down. The approach grounds in foraging theory, which provides a sound basis to capture the unique- ness of individual eye movement behaviour. We propose a composite Ornstein-Uhlenbeck process for quantifying the exploration/exploitation signature characterising the foraging eye behaviour. The rel- evant parameters of the composite model, inferred from eye-tracking data via Bayesian analysis, are shown to yield a suitable feature set for biometric identification; the latter is eventually accomplished via a classical classification technique. A proof of concept of the method is provided by measuring its identification performance on a publicly available dataset. Data and code for reproducing the analyses are made available. Overall, we argue that the approach offers a fresh view on either the analyses of eye-tracking data and prospective applications in this field

The Role of Non-Linearities in Visual Perception studied with a Computational Model of the Vertebrate Retina

Processing of visual stimuli in the vertebrate retina is complex and diverse. The retinal output to the higher centres of the nervous system, mediated by ganglion cells, consists of several different channels. Neurons in these channels can have very distinct response properties, which originate in different retinal pathways. In this work, the retinal origins and possible functional implications of the segregation of visual pathways will be investigated with a detailed, biologically realistic computational model of the retina. This investigation will focus on the two main retino-cortical pathways in the mammalian retina, the parvocellular and magnocellular systems, which are crucial for conscious visual perception. These pathways differ in two important aspects. The parvocellular system has a high spatial, but low temporal resolution. Conversely, the magnocellular system has a high temporal fidelity, spatial sampling however is less dense than for parvocellular cells. Additionally, the responses of magnocellular ganglion cells can show pronounced nonlinearities, while the parvocellular system is essentially linear. The origin of magnocellular nonlinearities is unknown and will be investigated in the first part of this work. As their main source, the results suggest specific properties of the photoreceptor response and a specialised amacrine cell circuit in the inner retina. The results further show that their effect combines in a multiplicative way. The model is then used to examine the influence of nonlinearities on the responses of ganglion cells in the presence of involuntary fixational eye movements. Two different stimulus conditions will be considered: visual hyperacuity and motion induced illusions. In both cases, it is possible to directly compare properties of the ganglion cell population response with psychophysical data, which allows for an analysis of the influence of different components of the retinal circuitry. The simulation results suggest an important role for nonlinearities in the magnocellular stream for visual perception in both cases. First, it will be shown how nonlinearities, triggered by fixational eye movements, can strongly enhance the spatial precision of magnocellular ganglion cells. As a result, their performance in a hyperacuity task can be equal to or even surpass that of the parvocellular system. Second, the simulations imply that the origin of some of the illusory percepts elicited by fixational eye movements could be traced back to the nonlinear properties of magnocellular ganglion cells. As these activity patterns strongly differ from those in the parvocellular system, it appears that the magnocellular system can strongly dominate visual perception in certain conditions. Taken together, the results of this theoretical study suggest that retinal nonlinearities may be important for and strongly influence visual perception. The model makes several experimentally verifiable predictions to further test and quantify these findings. Furthermore, models investigating higher visual processing stages may benefit from this work, which could provide the basis to produce realistic afferent input

Abstracts from CIP 2007: Segundo Congreso Ibérico de Percepción

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Modeling the role of fixational eye movements in real-world scenes

Our eyes never remain still. Even when we stare at a fixed point, small involuntary movements take place in our eyes in an imperceptible manner. Researchers agree on the presence of three main contributions to eye movements when we fix the gaze: microsaccades, drifts and tremor. These small movements carry the image across the retina stimulating the photoreceptors and thus avoiding fading. Nowadays it is commonly accepted that these movements can improve the discrimination performance of the retina. In this paper, several retina models with and without fixational eye movements were implemented by mean of RetinaStudio tool to test the feasibility of these models to be incorporated in future neuroprostheses. For this purpose each retina model has been stimulated with natural scene images in two experiments. Results are discussed from the point of view of a neuroprosthesis development.This work has been supported in part by the ONCE (National Organization of the Spanish Blind), by the Research Chair on Retinitis Pigmentosa Bidons Egara and by the Grant SAF2008-03694 from the Spanish Government