Sparse Coding Predicts Optic Flow Specificities of Zebrafish Pretectal Neurons

Zebrafish pretectal neurons exhibit specificities for large-field optic flow patterns associated with rotatory or translatory body motion. We investigate the hypothesis that these specificities reflect the input statistics of natural optic flow. Realistic motion sequences were generated using computer graphics simulating self-motion in an underwater scene. Local retinal motion was estimated with a motion detector and encoded in four populations of directionally tuned retinal ganglion cells, represented as two signed input variables. This activity was then used as input into one of two learning networks: a sparse coding network (competitive learning) and backpropagation network (supervised learning). Both simulations develop specificities for optic flow which are comparable to those found in a neurophysiological study (Kubo et al. 2014), and relative frequencies of the various neuronal responses are best modeled by the sparse coding approach. We conclude that the optic flow neurons in the zebrafish pretectum do reflect the optic flow statistics. The predicted vectorial receptive fields show typical optic flow fields but also "Gabor" and dipole-shaped patterns that likely reflect difference fields needed for reconstruction by linear superposition.Comment: Published Conference Paper from ICANN 2018, Rhode

Miniature curved artificial compound eyes.

International audienceIn most animal species, vision is mediated by compound eyes, which offer lower resolution than vertebrate single-lens eyes, but significantly larger fields of view with negligible distortion and spherical aberration, as well as high temporal resolution in a tiny package. Compound eyes are ideally suited for fast panoramic motion perception. Engineering a miniature artificial compound eye is challenging because it requires accurate alignment of photoreceptive and optical components on a curved surface. Here, we describe a unique design method for biomimetic compound eyes featuring a panoramic, undistorted field of view in a very thin package. The design consists of three planar layers of separately produced arrays, namely, a microlens array, a neuromorphic photodetector array, and a flexible printed circuit board that are stacked, cut, and curved to produce a mechanically flexible imager. Following this method, we have prototyped and characterized an artificial compound eye bearing a hemispherical field of view with embedded and programmable low-power signal processing, high temporal resolution, and local adaptation to illumination. The prototyped artificial compound eye possesses several characteristics similar to the eye of the fruit fly Drosophila and other arthropod species. This design method opens up additional vistas for a broad range of applications in which wide field motion detection is at a premium, such as collision-free navigation of terrestrial and aerospace vehicles, and for the experimental testing of insect vision theories

Insect-Inspired Visual Self-Motion Estimation

Strübbe S. Insect-Inspired Visual Self-Motion Estimation. Bielefeld: Universität Bielefeld; 2019

An On-Board Visual-Based Attitude Estimation System For Unmanned Aerial Vehicle Mapping

This paper evaluates the performances of several salient feature detectors, namely; Harris detector, Minimum Eigenvalue (MinEig), Scale Invariant Feature Transform (SIFT), Maximally Stable Extremal Region (MSER), Speeded Up Robust Feature (SURF), Features from Accelerated Segment Test (FAST), and Binary Robust Scale Invariant Keypoint (BRISK), in order to assess the suitability in the application of the proposed visual-based attitude estimation system. Throughout the experiment, three main requirements have been investigated which include Time-to-Complete (TTC), detection rate, and matching rate. It was found that SURF fulfills each of the system’s requirements. Moreover, it was also found that keypoints detection capabilities affect the processing time, and the clustering patterns in the results may assist in automated inspection of correct and false matching

Bio-Inspired Information Extraction In 3-D Environments Using Wide-Field Integration Of Optic Flow

A control theoretic framework is introduced to analyze an information extraction approach from patterns of optic flow based on analogues to wide-field motion-sensitive interneurons in the insect visuomotor system. An algebraic model of optic flow is developed, based on a parameterization of simple 3-D environments. It is shown that estimates of proximity and speed, relative to these environments, can be extracted using weighted summations of the instantaneous patterns of optic flow. Small perturbation techniques are utilized to link weighting patterns to outputs, which are applied as feedback to facilitate stability augmentation and perform local obstacle avoidance and terrain following. Weighting patterns that provide direct linear mappings between the sensor array and actuator commands can be derived by casting the problem as a combined static state estimation and linear feedback control problem. Additive noise and environment uncertainties are incorporated into an offline procedure for determination of optimal weighting patterns. Several applications of the method are provided, with differing spatial measurement domains. Non-linear stability analysis and experimental demonstration is presented for a wheeled robot measuring optic flow in a planar ring. Local stability analysis and simulation is used to show robustness over a range of urban-like environments for a fixed-wing UAV measuring in orthogonal rings and a micro helicopter measuring over the full spherical viewing arena. Finally, the framework is used to analyze insect tangential cells with respect to the information they encode and to demonstrate how cell outputs can be appropriately amplified and combined to generate motor commands to achieve reflexive navigation behavior

A `bright zone' in male hoverfly (Eristalis tenax) eyes and associated faster motion detection and increased contrast sensitivity

Eyes of the hoverfly Eristalis tenax are sexually dimorphic such that males have a fronto-dorsal region of large facets. In contrast to other large flies in which large facets are associated with a decreased interommatidial angle to form a dorsal `acute zone' of increased spatial resolution, we show that a dorsal region of large facets in males appears to form a `bright zone' of increased light capture without substantially increased spatial resolution. Theoretically, more light allows for increased performance in tasks such as motion detection. To determine the effect of the bright zone on motion detection, local properties of wide field motion detecting neurons were investigated using localized sinusoidal gratings. The pattern of local preferred directions of one class of these cells, the HS cells, in Eristalis is similar to that reported for the blowfly Calliphora. The bright zone seems to contribute to local contrast sensitivity; high contrast sensitivity exists in portions of the receptive field served by large diameter facet lenses of males and is not observed in females. Finally, temporal frequency tuning is also significantly faster in this frontal portion of the world, particularly in males, where it overcompensates for the higher spatial-frequency tuning and shifts the predicted local velocity optimum to higher speeds. These results indicate that increased retinal illuminance due to the bright zone of males is used to enhance contrast sensitivity and speed motion detector responses. Additionally, local neural properties vary across the visual world in a way not expected if HS cells serve purely as matched filters to measure yaw-induced visual motion

Neuronal processing of translational optic flow in the visual system of the shore crab Carcinus maenas

This paper describes a search for neurones sensitive to optic flow in the visual system of the shore crab Carcinus maenas using a procedure developed from that of Krapp and Hengstenberg. This involved determining local motion sensitivity and its directional selectivity at many points within the neurone's receptive field and plotting the results on a map. Our results showed that local preferred directions of motion are independent of velocity, stimulus shape and type of motion (circular or linear). Global response maps thus clearly represent real properties of the neurones' receptive fields. Using this method, we have discovered two families of interneurones sensitive to translational optic flow. The first family has its terminal arborisations in the lobula of the optic lobe, the second family in the medulla. The response maps of the lobula neurones (which appear to be monostratified lobular giant neurones) show a clear focus of expansion centred on or just above the horizon, but at significantly different azimuth angles. Response maps such as these, consisting of patterns of movement vectors radiating from a pole, would be expected of neurones responding to self-motion in a particular direction. They would be stimulated when the crab moves towards the pole of the neurone's receptive field. The response maps of the medulla neurones show a focus of contraction, approximately centred on the horizon, but at significantly different azimuth angles. Such neurones would be stimulated when the crab walked away from the pole of the neurone's receptive field. We hypothesise that both the lobula and the medulla interneurones are representatives of arrays of cells, each of which would be optimally activated by self-motion in a different direction. The lobula neurones would be stimulated by the approaching scene and the medulla neurones by the receding scene. Neurones tuned to translational optic flow provide information on the three-dimensional layout of the environment and are thought to play a role in the judgment of heading

Stereo Omnidirectional Vision for a Hopping Robot

Abstract-This paper proposes a new geometrical structure for stereoscopic vision using omnidirectional cameras. The motivation of this work comes from the desire to equip a small hopping robot with an efficient and robust vision system to perform self localization during exploration missions. Because of size and weight constraints, we selected the Panoramic Annular Lens, for which no geometric model of stereo configuration was available. The paper describes the geometrical optical properties of the single lens and proposes a configuration for doing stereo vision with this lens. The analitical properties as well as the requirements of the complete system are discussed in the paper