Robust Models for Optic Flow Coding in Natural Scenes Inspired by Insect Biology

The extraction of accurate self-motion information from the visual world is a difficult problem that has been solved very efficiently by biological organisms utilizing non-linear processing. Previous bio-inspired models for motion detection based on a correlation mechanism have been dogged by issues that arise from their sensitivity to undesired properties of the image, such as contrast, which vary widely between images. Here we present a model with multiple levels of non-linear dynamic adaptive components based directly on the known or suspected responses of neurons within the visual motion pathway of the fly brain. By testing the model under realistic high-dynamic range conditions we show that the addition of these elements makes the motion detection model robust across a large variety of images, velocities and accelerations. Furthermore the performance of the entire system is more than the incremental improvements offered by the individual components, indicating beneficial non-linear interactions between processing stages. The algorithms underlying the model can be implemented in either digital or analog hardware, including neuromorphic analog VLSI, but defy an analytical solution due to their dynamic non-linear operation. The successful application of this algorithm has applications in the development of miniature autonomous systems in defense and civilian roles, including robotics, miniature unmanned aerial vehicles and collision avoidance sensors

A study of the centrifugal projections to the pigeon retina using two fluorescent markers

The centrifugal projection to the retina of the adult pigeon was studied by the retrograde transport of Diamidino yellow and Fast blue. On the contralateral side in the nucleus isthmo-opticus 8400–10,900 cells were stained while in the surrounding area 1500–2800 marked ectopic cells were counted. Up to 94 neurones, which are nearly all ectopic, project to the ipsilateral eye. Using double-labelling we concluded that there are no cells projecting to both eyes. This study shows that in the adult pigeon there exist more ectopic cells projecting to the retina than previously reported in horseradish peroxidase experiments

Motion sensitivity in the nucleus of the basal optic root of the pigeon

1. Single-unit responses to large-field movement (angular velocity, w = 0.25-42 degrees/s) of sine-wave gratings of different spatial wavelength (lambda = 5.2-41 degrees) and contrast have been recorded in the nucleus of the basal optic root (nBOR) of the accessory optic system (AOS) of the pigeon. 2. The steady-state response to moving sine-wave gratings increases with increasing contrast to reach a saturation level at 25%. 3. Generally the steady-state responses of the cells passed through a maximum when stimulated at various velocities. In 12 of the 15 cells tested with six different velocities and four different spatial wavelengths, the location of the response maximum on the velocity scale depended on the spatial wavelength (lambda) used. That is, in these cells the response depends on the temporal frequency (tf = w/lambda) of the stimulus and not on its velocity alone. This is in agreement with the prediction of the theory of motion detection according to the basic version of the correlation scheme. 4. The temporal frequency for maximal response of individual cells shifts to higher values when the contrast of the sine-wave gratings is reduced to 5%. 5. The steady-state response of 16 of the recorded directional selective cells (53) is modulated with the temporal frequency of the stimulus, regardless of the phase of the grating at the beginning of its movement. 6. In phasic-tonically responding cells, the phasic response peak decays to the steady-state level with a time constant that becomes shorter as the temporal frequency of the stimulus increases. 7. The basic version of the correlation scheme includes only the time constant of one low-pass filter. Therefore the phasic response is expected to decay to the steady-state level with one and the same time constant, and the position of the maximal response on the temporal frequency scale should not be influenced by a change of pattern contrast. According to the model, phase-dependent modulations of the steady-state response should occur only when the spatial wavelength of the stimulus pattern is large compared with the sampling base of the underlying detector. Consequently the results given in points 4-6 cannot be described by a basic version of the correlation scheme

Cortical oscillations and the origin of express saccades

The latencies of visually guided saccadic eye movements can form bimodal distributions. The 'express saccades' associated with the first mode of the distribution are thought to be generated via an anatomical pathway different from that for the second mode, which comprises regular saccades. The following previously published observations are the basis for a new alternative model of these effects: (i) visual stimuli can cause oscillations to appear in the electroencephalogram; (ii) visual stimuli can cause a negative shift in the electroencephalogram that lasts for several hundreds of milliseconds; and (iii) negativity in the electroencephalogram can be associated with reduced thresholds of cortical neurons to stimuli. In the new model both express and regular saccades are generated by the same anatomical structures. The differences in saccadic latency are produced by an oscillatory reduction of a threshold in the saccade-generating pathway that is transiently produced under certain stimulus paradigms. The model has implications regarding the functional significance of spontaneous and stimulus-induced oscillations in the central nervous system

The pigeon's eye viewed through an ophthalmoscopic microscope: Orientation of retinal landmarks and significance of eye movements

The retina of live, anaesthetized pigeons was inspected with an ophthalmoscopic microscope mounted on a goniometer. Retinal landmarks (optic axis, pecten, fovea, border between the yellow and red field) and the ora terminalis were projected into the visual field of the eye and related to existing data. The resting position of the eye is determined by an orientation of the pecten 45° to the horizontal plane and the optic axis pointing to the horizon with an azimuth angle of 70° relative to the bill. The binocular overlap is maximal (≈ 30°) some 15° above the eye-bill axis. In the resting position of the eye the red field is directed to the lower frontal visual field with only marginal binocular overlap. Binocular overlap of the area donalis with the red field, however, during frontal fixation is brought about by eye movements in the range we have demonstrated. The fixation point is 10° below the eye-bill axis