An Active Pattern Recognition Architecture for Mobile Robots

An active, attentionally-modulated recognition architecture is proposed for object recognition and scene analysis. The proposed architecture forms part of navigation and trajectory planning modules for mobile robots. Key characteristics of the system include movement planning and execution based on environmental factors and internal goal definitions. Real-time implementation of the system is based on space-variant representation of the visual field, as well as an optimal visual processing scheme utilizing separate and parallel channels for the extraction of boundaries and stimulus qualities. A spatial and temporal grouping module (VWM) allows for scene scanning, multi-object segmentation, and featural/object priming. VWM is used to modulate a tn~ectory formation module capable of redirecting the focus of spatial attention. Finally, an object recognition module based on adaptive resonance theory is interfaced through VWM to the visual processing module. The system is capable of using information from different modalities to disambiguate sensory input.Defense Advanced Research Projects Agency (90-0083); Office of Naval Research (N00014-92-J-1309); Consejo Nacional de Ciencia y Tecnología (63462

Dynamic Binding of Visual Contours Without Temporal Coding

Recognition of objects in complex visual scenes is greatly simplified by the ability to segment features belonging to different objects while grouping features belonging to the same object. This feature-binding process can be driven by the local relations between visual contours. The standard method for implementing this process with neural networks uses a temporal code to bind features together. I propose a spatial coding alternative for the dynamic binding of visual contours, and demonstrate the spatial coding method for segmenting an image consisting of three overlapping objects.Office of Naval Research (N00014-91-J-4100

Grouping in object recognition: The role of a Gestalt law in letter identification

The Gestalt psychologists reported a set of laws describing how vision groups elements to recognize objects. The Gestalt laws “prescribe for us what we are to recognize ‘as one thing’” (Köhler, 1920). Were they right? Does object recognition involve grouping? Tests of the laws of grouping have been favourable, but mostly assessed only detection, not identification, of the compound object. The grouping of elements seen in the detection experiments with lattices and “snakes in the grass” is compelling, but falls far short of the vivid everyday experience of recognizing a familiar, meaningful, named thing, which mediates the ordinary identification of an object. Thus, after nearly a century, there is hardly any evidence that grouping plays a role in ordinary object recognition. To assess grouping in object recognition, we made letters out of grating patches and measured threshold contrast for identifying these letters in visual noise as a function of perturbation of grating orientation, phase, and offset. We define a new measure, “wiggle”, to characterize the degree to which these various perturbations violate the Gestalt law of good continuation. We find that efficiency for letter identification is inversely proportional to wiggle and is wholly determined by wiggle, independent of how the wiggle was produced. Thus the effects of three different kinds of shape perturbation on letter identifiability are predicted by a single measure of goodness of continuation. This shows that letter identification obeys the Gestalt law of good continuation and may be the first confirmation of the original Gestalt claim that object recognition involves grouping

A Neural Theory of Attentive Visual Search: Interactions of Boundary, Surface, Spatial, and Object Representations

Visual search data are given a unified quantitative explanation by a model of how spatial maps in the parietal cortex and object recognition categories in the inferotemporal cortex deploy attentional resources as they reciprocally interact with visual representations in the prestriate cortex. The model visual representations arc organized into multiple boundary and surface representations. Visual search in the model is initiated by organizing multiple items that lie within a given boundary or surface representation into a candidate search grouping. These items arc compared with object recognition categories to test for matches or mismatches. Mismatches can trigger deeper searches and recursive selection of new groupings until a target object io identified. This search model is algorithmically specified to quantitatively simulate search data using a single set of parameters, as well as to qualitatively explain a still larger data base, including data of Aks and Enns (1992), Bravo and Blake (1990), Chellazzi, Miller, Duncan, and Desimone (1993), Egeth, Viri, and Garbart (1984), Cohen and Ivry (1991), Enno and Rensink (1990), He and Nakayarna (1992), Humphreys, Quinlan, and Riddoch (1989), Mordkoff, Yantis, and Egeth (1990), Nakayama and Silverman (1986), Treisman and Gelade (1980), Treisman and Sato (1990), Wolfe, Cave, and Franzel (1989), and Wolfe and Friedman-Hill (1992). The model hereby provides an alternative to recent variations on the Feature Integration and Guided Search models, and grounds the analysis of visual search in neural models of preattentive vision, attentive object learning and categorization, and attentive spatial localization and orientation.Air Force Office of Scientific Research (F49620-92-J-0499, 90-0175, F49620-92-J-0334); Advanced Research Projects Agency (AFOSR 90-0083, ONR N00014-92-J-4015); Office of Naval Research (N00014-91-J-4100); Northeast Consortium for Engineering Education (NCEE/A303/21-93 Task 0021); British Petroleum (89-A-1204); National Science Foundation (NSF IRI-90-00530

Implicit scene segmentation in deeper convolutional neural networks

Feedforward deep convolutional neural networks (DCNNs) are matching and even surpassing human performance on object recognition. This performance suggests that activation of a loose collection of image features could support the recognition of natural object categories, without dedicated systems to solve specific visual subtasks. Recent findings in humans however, suggest that while feedforward activity may suffice for sparse scenes with isolated objects, additional visual operations ('routines') that aid the recognition process (e.g. segmentation or grouping) are needed for more complex scenes. Linking human visual processing to performance of DCNNs with increasing depth, we here explored if, how, and when object information is differentiated from the backgrounds they appear on. To this end, we controlled the information in both objects and backgrounds, as well as the relationship between them by adding noise, manipulating background congruence and systematically occluding parts of the image. Results indicated less distinction between object- and background features for more shallow networks. For those networks, we observed a benefit of training on segmented objects (as compared to unsegmented objects). Overall, deeper networks trained on natural (unsegmented) scenes seem to perform implicit 'segmentation' of the objects from their background, possibly by improved selection of relevant features

A Neural Theory of Visual Search: Recursive Attention to Segmentations and Surfaces

A neural theory is proposed in which visual search is accomplished by perceptual grouping and segregation, which occurs simultaneous across the visual field, and object recognition, which is restricted to a selected region of the field. The theory offers an alternative hypothesis to recently developed variations on Feature Integration Theory (Treisman, and Sato, 1991) and Guided Search Model (Wolfe, Cave, and Franzel, 1989). A neural architecture and search algorithm is specified that quantitatively explains a wide range of psychophysical search data (Wolfe, Cave, and Franzel, 1989; Cohen, and lvry, 1991; Mordkoff, Yantis, and Egeth, 1990; Treisman, and Sato, 1991).Air Force Office of Scientific Research (90-0175); Defense Advanced Research Projects Agency (AFOSR 90-0083, ONR N00014-92-J-4015); Office of Naval Research (N00014-91-J-4100); British Petroleum (89-A-1204); National Science Foundation (IRI-90-00530

Synchronized Oscillations During Cooperative Feature Linking in a Cortical Model of Visual Perception

A neural network model of synchronized oscillator activity in visual cortex is presented in order to account for recent neurophysiological findings that such synchronization may reflect global properties of the stimulus. In these recent experiments, it was reported that synchronization of oscillatory firing responses to moving bar stimuli occurred not only for nearby neurons, but also occurred between neurons separated by several cortical columns (several mm of cortex) when these neurons shared some receptive field preferences specific to the stimuli. These results were obtained not only for single bar stimuli but also across two disconnected, but colinear, bars moving in the same direction. Our model and computer simulations obtain these synchrony results across both single and double bar stimuli. For the double bar case, synchronous oscillations are induced in the region between the bars, but no oscillations are induced in the regions beyond the stimuli. These results were achieved with cellular units that exhibit limit cycle oscillations for a robust range of input values, but which approach an equilibrium state when undriven. Single and double bar synchronization of these oscillators was achieved by different, but formally related, models of preattentive visual boundary segmentation and attentive visual object recognition, as well as nearest-neighbor and randomly coupled models. In preattentive visual segmentation, synchronous oscillations may reflect the binding of local feature detectors into a globally coherent grouping. In object recognition, synchronous oscillations may occur during an attentive resonant state that triggers new learning. These modelling results support earlier theoretical predictions of synchronous visual cortical oscillations and demonstrate the robustness of the mechanisms capable of generating synchrony.Air Force Office of Scientific Research (90-0175); Army Research Office (DAAL-03-88-K0088); Defense Advanced Research Projects Agency (90-0083); National Aeronautics and Space Administration (NGT-50497

Statistical structure of lateral connections in the primary visual cortex

The statistical structure of the visual world offers many useful clues for understanding how biological visual systems may understand natural scenes. One particularly important early process in visual object recognition is that of grouping together edges which belong to the same contour. The layout of edges in natural scenes have strong statistical structure. One such statistical property is that edges tend to lie on a common circle, and this 'co-circularity' can predict human performance at contour grouping. We therefore tested the hypothesis that long-range excitatory lateral connections in the primary visual cortex, which are believed to be involved in contour grouping, display a similar co-circular structure.By analyzing data from tree shrews, where information on both lateral connectivity and the overall structure of the orientation map was available, we found a surprising diversity in the relevant statistical structure of the connections. In particular, the extent to which co-circularity was displayed varied significantly.Overall, these data suggest the intriguing possibility that V1 may contain both co-circular and anti-cocircular connections

A Structured Model of Video Reproduces Primary Visual Cortical Organisation

The visual system must learn to infer the presence of objects and features in the world from the images it encounters, and as such it must, either implicitly or explicitly, model the way these elements interact to create the image. Do the response properties of cells in the mammalian visual system reflect this constraint? To address this question, we constructed a probabilistic model in which the identity and attributes of simple visual elements were represented explicitly and learnt the parameters of this model from unparsed, natural video sequences. After learning, the behaviour and grouping of variables in the probabilistic model corresponded closely to functional and anatomical properties of simple and complex cells in the primary visual cortex (V1). In particular, feature identity variables were activated in a way that resembled the activity of complex cells, while feature attribute variables responded much like simple cells. Furthermore, the grouping of the attributes within the model closely parallelled the reported anatomical grouping of simple cells in cat V1. Thus, this generative model makes explicit an interpretation of complex and simple cells as elements in the segmentation of a visual scene into basic independent features, along with a parametrisation of their moment-by-moment appearances. We speculate that such a segmentation may form the initial stage of a hierarchical system that progressively separates the identity and appearance of more articulated visual elements, culminating in view-invariant object recognition