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 discotinuities, 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 VIP 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 (NSF SBE-0354378); Office of Naval Research (N00014-01-1-0624

Invariant Visual Object and Face Recognition: Neural and Computational Bases, and a Model, VisNet

Neurophysiological evidence for invariant representations of objects and faces in the primate inferior temporal visual cortex is described. Then a computational approach to how invariant representations are formed in the brain is described that builds on the neurophysiology. A feature hierarchy model in which invariant representations can be built by self-organizing learning based on the temporal and spatial statistics of the visual input produced by objects as they transform in the world is described. VisNet can use temporal continuity in an associative synaptic learning rule with a short-term memory trace, and/or it can use spatial continuity in continuous spatial transformation learning which does not require a temporal trace. The model of visual processing in the ventral cortical stream can build representations of objects that are invariant with respect to translation, view, size, and also lighting. The model has been extended to provide an account of invariant representations in the dorsal visual system of the global motion produced by objects such as looming, rotation, and object-based movement. The model has been extended to incorporate top-down feedback connections to model the control of attention by biased competition in, for example, spatial and object search tasks. The approach has also been extended to account for how the visual system can select single objects in complex visual scenes, and how multiple objects can be represented in a scene. The approach has also been extended to provide, with an additional layer, for the development of representations of spatial scenes of the type found in the hippocampus

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

Content-specific activity in frontoparietal and default-mode networks during prior-guided visual perception

How prior knowledge shapes perceptual processing across the human brain, particularly in the frontoparietal (FPN) and default-mode (DMN) networks, remains unknown. Using ultra-high-field (7T) functional magnetic resonance imaging (fMRI), we elucidated the effects that the acquisition of prior knowledge has on perceptual processing across the brain. We observed that prior knowledge significantly impacted neural representations in the FPN and DMN, rendering responses to individual visual images more distinct from each other, and more similar to the image-specific prior. In addition, neural representations were structured in a hierarchy that remained stable across perceptual conditions, with early visual areas and DMN anchored at the two extremes. Two large-scale cortical gradients occur along this hierarchy: first, dimensionality of the neural representational space increased along the hierarchy; second, prior’s impact on neural representations was greater in higher-order areas. These results reveal extensive and graded influences of prior knowledge on perceptual processing across the brain

Learning and Acting in Peripersonal Space: Moving, Reaching, and Grasping

The young infant explores its body, its sensorimotor system, and the immediately accessible parts of its environment, over the course of a few months creating a model of peripersonal space useful for reaching and grasping objects around it. Drawing on constraints from the empirical literature on infant behavior, we present a preliminary computational model of this learning process, implemented and evaluated on a physical robot. The learning agent explores the relationship between the configuration space of the arm, sensing joint angles through proprioception, and its visual perceptions of the hand and grippers. The resulting knowledge is represented as the peripersonal space (PPS) graph, where nodes represent states of the arm, edges represent safe movements, and paths represent safe trajectories from one pose to another. In our model, the learning process is driven by intrinsic motivation. When repeatedly performing an action, the agent learns the typical result, but also detects unusual outcomes, and is motivated to learn how to make those unusual results reliable. Arm motions typically leave the static background unchanged, but occasionally bump an object, changing its static position. The reach action is learned as a reliable way to bump and move an object in the environment. Similarly, once a reliable reach action is learned, it typically makes a quasi-static change in the environment, moving an object from one static position to another. The unusual outcome is that the object is accidentally grasped (thanks to the innate Palmar reflex), and thereafter moves dynamically with the hand. Learning to make grasps reliable is more complex than for reaches, but we demonstrate significant progress. Our current results are steps toward autonomous sensorimotor learning of motion, reaching, and grasping in peripersonal space, based on unguided exploration and intrinsic motivation.Comment: 35 pages, 13 figure

Representation Learning in Sensory Cortex: a theory

We review and apply a computational theory of the feedforward path of the ventral stream in visual cortex based on the hypothesis that its main function is the encoding of invariant representations of images. A key justification of the theory is provided by a theorem linking invariant representations to small sample complexity for recognition – that is, invariant representations allows learning from very few labeled examples. The theory characterizes how an algorithm that can be implemented by a set of ”simple” and ”complex” cells – a ”HW module” – provides invariant and selective representations. The invariance can be learned in an unsupervised way from observed transformations. Theorems show that invariance implies several properties of the ventral stream organization, including the eccentricity dependent lattice of units in the retina and in V1, and the tuning of its neurons. The theory requires two stages of processing: the first, consisting of retinotopic visual areas such as V1, V2 and V4 with generic neuronal tuning, leads to representations that are invariant to translation and scaling; the second, consisting of modules in IT, with class- and object-specific tuning, provides a representation for recognition with approximate invariance to class specific transformations, such as pose (of a body, of a face) and expression. In the theory the ventral stream main function is the unsupervised learning of ”good” representations that reduce the sample complexity of the final supervised learning stage.This work was supported by the Center for Brains, Minds and Machines (CBMM), funded by NSF STC award CCF - 1231216

Articulation-aware Canonical Surface Mapping

We tackle the tasks of: 1) predicting a Canonical Surface Mapping (CSM) that indicates the mapping from 2D pixels to corresponding points on a canonical template shape, and 2) inferring the articulation and pose of the template corresponding to the input image. While previous approaches rely on keypoint supervision for learning, we present an approach that can learn without such annotations. Our key insight is that these tasks are geometrically related, and we can obtain supervisory signal via enforcing consistency among the predictions. We present results across a diverse set of animal object categories, showing that our method can learn articulation and CSM prediction from image collections using only foreground mask labels for training. We empirically show that allowing articulation helps learn more accurate CSM prediction, and that enforcing the consistency with predicted CSM is similarly critical for learning meaningful articulation.Comment: To appear at CVPR 2020, project page https://nileshkulkarni.github.io/acsm

Bio-Inspired Computer Vision: Towards a Synergistic Approach of Artificial and Biological Vision

To appear in CVIUStudies in biological vision have always been a great source of inspiration for design of computer vision algorithms. In the past, several successful methods were designed with varying degrees of correspondence with biological vision studies, ranging from purely functional inspiration to methods that utilise models that were primarily developed for explaining biological observations. Even though it seems well recognised that computational models of biological vision can help in design of computer vision algorithms, it is a non-trivial exercise for a computer vision researcher to mine relevant information from biological vision literature as very few studies in biology are organised at a task level. In this paper we aim to bridge this gap by providing a computer vision task centric presentation of models primarily originating in biological vision studies. Not only do we revisit some of the main features of biological vision and discuss the foundations of existing computational studies modelling biological vision, but also we consider three classical computer vision tasks from a biological perspective: image sensing, segmentation and optical flow. Using this task-centric approach, we discuss well-known biological functional principles and compare them with approaches taken by computer vision. Based on this comparative analysis of computer and biological vision, we present some recent models in biological vision and highlight a few models that we think are promising for future investigations in computer vision. To this extent, this paper provides new insights and a starting point for investigators interested in the design of biology-based computer vision algorithms and pave a way for much needed interaction between the two communities leading to the development of synergistic models of artificial and biological vision