Multi-camera Realtime 3D Tracking of Multiple Flying Animals

Automated tracking of animal movement allows analyses that would not otherwise be possible by providing great quantities of data. The additional capability of tracking in realtime - with minimal latency - opens up the experimental possibility of manipulating sensory feedback, thus allowing detailed explorations of the neural basis for control of behavior. Here we describe a new system capable of tracking the position and body orientation of animals such as flies and birds. The system operates with less than 40 msec latency and can track multiple animals simultaneously. To achieve these results, a multi target tracking algorithm was developed based on the Extended Kalman Filter and the Nearest Neighbor Standard Filter data association algorithm. In one implementation, an eleven camera system is capable of tracking three flies simultaneously at 60 frames per second using a gigabit network of nine standard Intel Pentium 4 and Core 2 Duo computers. This manuscript presents the rationale and details of the algorithms employed and shows three implementations of the system. An experiment was performed using the tracking system to measure the effect of visual contrast on the flight speed of Drosophila melanogaster. At low contrasts, speed is more variable and faster on average than at high contrasts. Thus, the system is already a useful tool to study the neurobiology and behavior of freely flying animals. If combined with other techniques, such as `virtual reality'-type computer graphics or genetic manipulation, the tracking system would offer a powerful new way to investigate the biology of flying animals.Comment: pdfTeX using libpoppler 3.141592-1.40.3-2.2 (Web2C 7.5.6), 18 pages with 9 figure

Flying Drosophila stabilize their vision-based velocity controller by sensing wind with their antennae

Flies and other insects use vision to regulate their groundspeed in flight, enabling them to fly in varying wind conditions. Compared with mechanosensory modalities, however, vision requires a long processing delay (~100 ms) that might introduce instability if operated at high gain. Flies also sense air motion with their antennae, but how this is used in flight control is unknown. We manipulated the antennal function of fruit flies by ablating their aristae, forcing them to rely on vision alone to regulate groundspeed. Arista-ablated flies in flight exhibited significantly greater groundspeed variability than intact flies. We then subjected them to a series of controlled impulsive wind gusts delivered by an air piston and experimentally manipulated antennae and visual feedback. The results show that an antenna-mediated response alters wing motion to cause flies to accelerate in the same direction as the gust. This response opposes flying into a headwind, but flies regularly fly upwind. To resolve this discrepancy, we obtained a dynamic model of the fly’s velocity regulator by fitting parameters of candidate models to our experimental data. The model suggests that the groundspeed variability of arista-ablated flies is the result of unstable feedback oscillations caused by the delay and high gain of visual feedback. The antenna response drives active damping with a shorter delay (~20 ms) to stabilize this regulator, in exchange for increasing the effect of rapid wind disturbances. This provides insight into flies’ multimodal sensory feedback architecture and constitutes a previously unknown role for the antennae

Characterization and modelling of complex motion patterns

Movement analysis is the principle of any interaction with the world and the survival of living beings completely depends on the effciency of such analysis. Visual systems have remarkably developed eficient mechanisms that analyze motion at different levels, allowing to recognize objects in dynamical and cluttered environments. In artificial vision, there exist a wide spectrum of applications for which the study of complex movements is crucial to recover salient information. Yet each domain may be different in terms of scenarios, complexity and relationships, a common denominator is that all of them require a dynamic understanding that captures the relevant information. Overall, current strategies are highly dependent on the appearance characterization and usually they are restricted to controlled scenarios. This thesis proposes a computational framework that is inspired in known motion perception mechanisms and structured as a set of modules. Each module is in due turn composed of a set of computational strategies that provide qualitative and quantitative descriptions of the dynamic associated to a particular movement. Diverse applications were herein considered and an extensive validation was performed for each of them. Each of the proposed strategies has shown to be reliable at capturing the dynamic patterns of different tasks, identifying, recognizing, tracking and even segmenting objects in sequences of video.Resumen. El análisis del movimiento es el principio de cualquier interacción con el mundo y la supervivencia de los seres vivos depende completamente de la eficiencia de este tipo de análisis. Los sistemas visuales notablemente han desarrollado mecanismos eficientes que analizan el movimiento en diferentes niveles, lo cual permite reconocer objetos en entornos dinámicos y saturados. En visión artificial existe un amplio espectro de aplicaciones para las cuales el estudio de los movimientos complejos es crucial para recuperar información saliente. A pesar de que cada dominio puede ser diferente en términos de los escenarios, la complejidad y las relaciones de los objetos en movimiento, un común denominador es que todos ellos requieren una comprensión dinámica para capturar información relevante. En general, las estrategias actuales son altamente dependientes de la caracterización de la apariencia y por lo general están restringidos a escenarios controlados. Esta tesis propone un marco computacional que se inspira en los mecanismos de percepción de movimiento conocidas y esta estructurado como un conjunto de módulos. Cada módulo esta a su vez compuesto por un conjunto de estrategias computacionales que proporcionan descripciones cualitativas y cuantitativas de la dinámica asociada a un movimiento particular. Diversas aplicaciones fueron consideradas en este trabajo y una extensa validación se llevó a cabo para cada uno de ellas. Cada una de las estrategias propuestas ha demostrado ser fiable en la captura de los patrones dinámicos de diferentes tareas identificando, reconociendo, siguiendo e incluso segmentando objetos en secuencias de video.Doctorad