Computer-aided studies of vision in crabs

A system for the back projection of computer-generated visual images onto a screen or screens that cover 240° of the horizontal visual field is described. Its applicability for the study of crab vision is tested by comparing the frequency response of the optokinetic response of the land crab, Cardisoma guanhumi , to sinusoidal oscillation of computer-generated striped patterns and a real striped drum. Significant differences were observed only at the low end of the frequency spectrum. The flexibility of computer-generated visual stimulation and its advantages for the study of optic flow are illustrated by experiments that: (a) demonstrate how well crabs separate the translational and rotational components of optic flow by showing compensatory eye movements to only the latter; (b) show that the ability to compensate for rotation is not impaired by combinations of rotation and translation; (c) show that motion parallax cues are used in addition to previously-described global cues for making the distinction between rotation and translation. Finally, the use of these methods in a successful search for visual interneurones sensitive to optic flow stimuli is demonstrated for the shore crab, Carcinus maenas .     

Whole-field integration, not detailed analysis, is used by the crab optokinetic system to separate rotation and translation in optic flow

For optimal visual control of compensatory eye movements during locomotion it is necessary to distinguish the rotational and translational components of the optic flow field. Optokinetic eye movements can reduce the rotational component only, making the information contained in the translational flow readily available to the animal. We investigated optokinetic eye rotation in the marble rock crab, Pachygrapsus marmoratus, during translational movement, either by displacing the animal or its visual surroundings. Any eye movement in response to such stimuli is taken as an indication that the system is unable to separate the translational and the rotational components in the optic flow in a mathematically perfect way. When the crabs are translated within a pseudo-natural environment, eye movements are negligible, especially during sideways translation. When, however, crabs were placed in a gangway between two elongated rectangular sidewalls carrying dotted patterns which were translated back and forth, marked eye movements were elicited, depending on the translational velocity. To resolve this discrepancy, we tested several hypotheses about mechanisms using detailed analysis of the optic flow or whole-field integration. We found that the latter are sufficient to explain the efficient separation of translation and rotation of crabs in quasi-natural situations. Accepted: 6 May 1997     

To keep on track during flight,fruitflies discount the skyward view

When small flying insects go off their intended course, they use the resulting pattern of motion on their eye, or optic flow, to guide corrective steering. A change in heading generates a unique, rotational motion pattern and a change in position generates a translational motion pattern, and each produces corrective responses in the wingbeats. Any image in the flow field can signal rotation, but owing to parallax, only the images of nearby objects can signal translation. Insects that fly near the ground might therefore respond more strongly to translational optic flow that occurs beneath them, as the nearby ground will produce strong optic flow. In these experiments, rigidly tethered fruitflies steered in response to computer-generated flow fields. When correcting for unintended rotations, flies weight the motion in their upper and lower visual fields equally. However, when correcting for unintended translations, flies weight the motion in the lower visual fields more strongly. These results are consistent with the interpretation that fruitflies stabilize by attending to visual areas likely to contain the strongest signals during natural flight conditions.     

Motion parallax contribution to perception of self-motion and depth

The object of this study is to mathematically specify important characteristics of visual flow during translation of the eye for the perception of depth and self-motion. We address various strategies by which the central nervous system may estimate self-motion and depth from motion parallax, using equations for the visual velocity field generated by translation of the eye through space. Our results focus on information provided by the movement and deformation of three-dimensional objects and on local flow behavior around a fixated point. All of these issues are addressed mathematically in terms of definite equations for the optic flow. This formal characterization of the visual information presented to the observer is then considered in parallel with other sensory cues to self-motion in order to see how these contribute to the effective use of visual motion parallax, and how parallactic flow can, conversely, contribute to the sense of self-motion. This article will focus on a central case, for understanding of motion parallax in spacious real-world environments, of monocular visual cues observable during pure horizontal translation of the eye through a stationary environment. We suggest that the global optokinetic stimulus associated with visual motion parallax must converge in significant fashion with vestibular and proprioceptive pathways that carry signals related to self-motion. Suggestions of experiments to test some of the predictions of this study are made.     

光流信息加工的神经基础

自体运动时,分布在视野内的景物在视网膜上的像旋转,扩张／收缩,浃动,构成光流刺激,光流信息的检测对于人或动物确定前进的方向,速度至关重要,已成为运动信息加工的一个研究热点。本文概括介绍了近年来心理物理和生理学两方面有关光流信息加工研究的主要进展,并讨论了光流信息分析的神经机制。     

Separation of translation and rotation by means of eye-region specialization in flying gypsy moths (Lepidoptera: Lymantriidae)

A partial functional specialization of eye regions in the visual control of flight was studied in male gypsy moths, Lymantria dispar,under open-loop conditions. When stimulated by means of a rotating striped drum, surrounding either the moth 's longitudinal or its transverse body axis, the induced torque response was always such as to compensate for a simulated translatory disturbance of flight, if the stimulus was restricted to the ventral visual field. If restricted to the lateral visual field(s), the response was always such as to compensate for a simulated rotatory disturbance. Though the conclusions refer to only a limited subset of visual stimuli the moths experience during free flight, the induced responses give reason to suppose that at least some of the simultaneous control of translation and rotation in free flight is based on a regional specialization of the compound eye.     

Visual gaze control during peering flight manoeuvres in honeybees

As animals travel through the environment, powerful reflexes help stabilize their gaze by actively maintaining head and eyes in a level orientation. Gaze stabilization reduces motion blur and prevents image rotations. It also assists in depth perception based on translational optic flow. Here we describe side-to-side flight manoeuvres in honeybees and investigate how the bees’ gaze is stabilized against rotations during these movements. We used high-speed video equipment to record flight paths and head movements in honeybees visiting a feeder. We show that during their approach, bees generate lateral movements with a median amplitude of about 20 mm. These movements occur with a frequency of up to 7 Hz and are generated by periodic roll movements of the thorax with amplitudes of up to ±60°. During such thorax roll oscillations, the head is held close to horizontal, thereby minimizing rotational optic flow. By having bees fly through an oscillating, patterned drum, we show that head stabilization is based mainly on visual motion cues. Bees exposed to a continuously rotating drum, however, hold their head fixed at an oblique angle. This result shows that although gaze stabilization is driven by visual motion cues, it is limited by other mechanisms, such as the dorsal light response or gravity reception.     

Response to self-motion in waterstriders: visual discrimination between rotation and translation

Waterstriders (Gerris paludum) often try to maintain a nearly stationary position on a moving water surface. Passive motion is restricted to 3 degrees of freedom: yaw, longitudinal, and transverse displacement. They correct for passive rotation and translation by distinct behavioral sequences. The compensatory behavior is predominantly visually controlled.

Response properties of cat AMLS neurons to optic flow stimuli

Spiral and translation stimuli were used to investigate the response properties of cat AMLS (anteromedial lateral suprasylvian area) neurons to optic flow. The overwhelming majority of cells could be significantly excited by the two modes of stimuli and most responsive cells displayed obvious direction selectivity. It is the first time to find a visual area in mammalian brain preferring rotation stimuli. Two representative hypotheses are discussed here on the neural mechanism of optic flow analysis in visual cortex, and some new viewpoints are proposed to explain the experimental results.     

Response properties of cat AMLS neurons to optic flow stimuli

Spiral and translation stimuli were used to investigate the response properties of cat AMLS (anteromedial lateral suprasylvian area) neurons to optic flow. The overwhelming majority of cells could be significantly excited by the two modes of stimuli and most responsive cells displayed obvious direction selectivity. It is the first time to find a visual area in mammalian brain preferring rotation stimuli. Two representative hypotheses are discussed here on the neural mechanism of optic flow analysis in visual cortex, and some new viewpoints are proposed to explain the experimental results.     

Nocturnal insects use optic flow for flight control

To avoid collisions when navigating through cluttered environments, flying insects must control their flight so that their sensory systems have time to detect obstacles and avoid them. To do this, day-active insects rely primarily on the pattern of apparent motion generated on the retina during flight (optic flow). However, many flying insects are active at night, when obtaining reliable visual information for flight control presents much more of a challenge. To assess whether nocturnal flying insects also rely on optic flow cues to control flight in dim light, we recorded flights of the nocturnal neotropical sweat bee, Megalopta genalis, flying along an experimental tunnel when: (i) the visual texture on each wall generated strong horizontal (front-to-back) optic flow cues, (ii) the texture on only one wall generated these cues, and (iii) horizontal optic flow cues were removed from both walls. We find that Megalopta increase their groundspeed when horizontal motion cues in the tunnel are reduced (conditions (ii) and (iii)). However, differences in the amount of horizontal optic flow on each wall of the tunnel (condition (ii)) do not affect the centred position of the bee within the flight tunnel. To better understand the behavioural response of Megalopta, we repeated the experiments on day-active bumble-bees (Bombus terrestris). Overall, our findings demonstrate that despite the limitations imposed by dim light, Megalopta-like their day-active relatives-rely heavily on vision to control flight, but that they use visual cues in a different manner from diurnal insects.     

Control of self-motion in dynamic fluids: fish do it differently from bees

To detect and avoid collisions, animals need to perceive and control the distance and the speed with which they are moving relative to obstacles. This is especially challenging for swimming and flying animals that must control movement in a dynamic fluid without reference from physical contact to the ground. Flying animals primarily rely on optic flow to control flight speed and distance to obstacles. Here, we investigate whether swimming animals use similar strategies for self-motion control to flying animals by directly comparing the trajectories of zebrafish (Danio rerio) and bumblebees (Bombus terrestris) moving through the same experimental tunnel. While moving through the tunnel, black and white patterns produced (i) strong horizontal optic flow cues on both walls, (ii) weak horizontal optic flow cues on both walls and (iii) strong optic flow cues on one wall and weak optic flow cues on the other. We find that the mean speed of zebrafish does not depend on the amount of optic flow perceived from the walls. We further show that zebrafish, unlike bumblebees, move closer to the wall that provides the strongest visual feedback. This unexpected preference for strong optic flow cues may reflect an adaptation for self-motion control in water or in environments where visibility is limited.     

The control of optic flow during learning flights

Hymenopteran insects perform systematic learning flights on departure from their nest, during which they acquire a visual representation of the nest environment. They back away from and pivot around the nest in a series of arcs while turning to view it in their fronto-lateral visual field. During the initial stages of the flights, turning rate and arc velocity relative to the nest are roughly constant at 100–200° s⁻¹ and are independent of distance, since the insects increase their flight speed as they back away from the pivoting centre. In this paper I analyse how solitary wasps control their flight by having them perform learning flights inside a rotating striped drum. The wasps' turning velocity is under visual control. When the insects fly inside a drum that rotates around the nest as a centre, their average turning rate is faster than normal when they fly an arc into the direction of drum rotation and slower when they fly in the opposite direction. The average slip speed they experience lies within 100–200° s⁻¹. The wasps also adjust their flight speed depending on the rotation of the drum. They modulate their distance from the pivoting centre accordingly and presumably also their height above ground, so that maximal ground slip is on average 200°␣s⁻¹. The insects move along arcs by short pulses of translation, followed by rapid body turns to correct for the change in retinal position of the nest entrance. Saccadic body turns follow pulses of translation with a delay of 80–120 ms. The optomotor response is active during these turns. The control of pivoting flight most likely involves three position servos, to control the retinal position of both the azimuth and the altitude of nest and the direction of flight relative to it, and two velocity servos, one constituting the optomotor reflex and the other one serving to clamp ground slip at about 200° s⁻¹. The control of ground slip is the prime source of the dynamic constancy of learning flights, which may help wasps to scale the pivoting parallax field they produce during these flights. Constant pivoting rate may in addition be important for the acquisition of a regular sequence of snapshots and in scanning for compass cues. Accepted : 31 July 1996     

Gaze Strategy in the Free Flying Zebra Finch (Taeniopygia guttata)

Fast moving animals depend on cues derived from the optic flow on their retina. Optic flow from translational locomotion includes information about the three-dimensional composition of the environment, while optic flow experienced during a rotational self motion does not. Thus, a saccadic gaze strategy that segregates rotations from translational movements during locomotion will facilitate extraction of spatial information from the visual input. We analysed whether birds use such a strategy by highspeed video recording zebra finches from two directions during an obstacle avoidance task. Each frame of the recording was examined to derive position and orientation of the beak in three-dimensional space. The data show that in all flights the head orientation was shifted in a saccadic fashion and was kept straight between saccades. Therefore, birds use a gaze strategy that actively stabilizes their gaze during translation to simplify optic flow based navigation. This is the first evidence of birds actively optimizing optic flow during flight.     

Orientation and Shape Discrimination in Juveniles and Adults of the Mangrove Crab Aratus pisonii (H. Milne Edwards, 1837): Effect of Predator and Chemical Cues

Behavioral responses of juveniles and adults of the mangrove crab Aratus pisonii (H. Milne Edwards, 1837) to black geometric shapes of equal surface area was measured. Crabs were tested either in presence or absence of chemicals generated from two common predator species, the portunid crab Callinectes ornatus Ordway, and the soapfish Haemulon aurolineatum Cuvier, 1830. The present study tested the hypothesis that A. pisonii (1) has the capacity to orient to visual cues; (2) it discriminates between different visual objects based on a combination of chemical and visual information and (3) this behavior changes with age. When presented with single black targets in background water, juveniles oriented toward all shapes. This behavioral response was interpreted as visual orientation toward potential shelter. Among shapes, juveniles showed preference for the vertical rectangle, probably due to the recognition of natural visual elements like mangrove roots. In predator conditioned water, juveniles exhibited a stronger response than in background water. Thus, juveniles were able to detect by odor the potential presence of predators. Change in responsiveness between adults and juveniles was also demonstrated.     

Orientation and Shape Discrimination in Juveniles and Adults of the Mangrove Crab Aratus pisonii (H. Milne Edwards, 1837): Effect of Predator and Chemical Cues

Behavioral responses of juveniles and adults of the mangrove crab Aratus pisonii (H. Milne Edwards, 1837) to black geometric shapes of equal surface area was measured. Crabs were tested either in presence or absence of chemicals generated from two common predator species, the portunid crab Callinectes ornatus Ordway, and the soapfish Haemulon aurolineatum Cuvier, 1830. The present study tested the hypothesis that A. pisonii (1) has the capacity to orient to visual cues; (2) it discriminates between different visual objects based on a combination of chemical and visual information and (3) this behavior changes with age. When presented with single black targets in background water, juveniles oriented toward all shapes. This behavioral response was interpreted as visual orientation toward potential shelter. Among shapes, juveniles showed preference for the vertical rectangle, probably due to the recognition of natural visual elements like mangrove roots. In predator conditioned water, juveniles exhibited a stronger response than in background water. Thus, juveniles were able to detect by odor the potential presence of predators. Change in responsiveness between adults and juveniles was also demonstrated.     

Single cell responses from the optic tectum of the zebra finch (Taeniopygia guttata castanotis Gould)

Responses of neurons of the optic tectum, the prominent, highly laminated mesencephalic station of the tectofugal visual pathway in birds, to computer-generated and other visual stimuli were examined in zebra finches. Our study shows that the contralateral retina projects to the tectum in topographic order. The representation of the visual field is tilted against the horizon by 22°. The representation of the contralateral hemifield extends to the ipsilateral side by 15°. Most neurons have receptive fields with excitatory centres of different shapes and inhibitory surround. A new type of neuronal receptive field is described which has an excitatory centre and a surround which is movement sensitive and preferably excited by very small spots. The first type of neurons is mostly located in upper tectal layers, the latter only in deeper layers. Excitatory centre sizes increase with depth, and there is a tendency of smaller receptive fields in the foveal region. The representation of the frontal visual field does not show specializations which could be expected if it were used for fixation of grain during pecking. Our results are in accordance with previous behavioural experiments. Accepted: 30 April 1999     

The optokinetic response in wild type and white zebra finches

Optic flow is a main source of information about self movement and the three-dimensional composition of the environment during locomotion. It is processed by the accessory optic system in all vertebrates. The optokinetic response is elicited by rotational optic flow, e.g. in a rotating drum lined with vertical stripes. We investigated here the effect of rotational optic flow on the optokinetic response in wild type and white zebra finches. The highest stimulus velocity eliciting an optokinetic response (upper velocity threshold) was dependent on stimulus direction and illumination level, but was not different between the colour morphs. The upper velocity threshold was higher with temporal to nasal movements in monocularly exposed birds and symmetrical with binocular exposure. Its increase with illumination level followed Fechner's law and reached a plateau at about 560 Lux. In bright daylight, white birds did not show optokinetic responses. We conclude that the altered wiring of the visual system of white birds has no influence on accessory optic system function. The unwillingness of white birds to respond with optokinetic response in bright daylight may be due to a substantial lack of inhibition within the visual system as demonstrated earlier, which may enhance the sensibility to glare.     

Optic flow-based collision-free strategies: From insects to robots

Flying insects are able to fly smartly in an unpredictable environment. It has been found that flying insects have smart neurons inside their tiny brains that are sensitive to visual motion also called optic flow. Consequently, flying insects rely mainly on visual motion during their flight maneuvers such as: takeoff or landing, terrain following, tunnel crossing, lateral and frontal obstacle avoidance, and adjusting flight speed in a cluttered environment. Optic flow can be defined as the vector field of the apparent motion of objects, surfaces, and edges in a visual scene generated by the relative motion between an observer (an eye or a camera) and the scene. Translational optic flow is particularly interesting for short-range navigation because it depends on the ratio between (i) the relative linear speed of the visual scene with respect to the observer and (ii) the distance of the observer from obstacles in the surrounding environment without any direct measurement of either speed or distance. In flying insects, roll stabilization reflex and yaw saccades attenuate any rotation at the eye level in roll and yaw respectively (i.e. to cancel any rotational optic flow) in order to ensure pure translational optic flow between two successive saccades. Our survey focuses on feedback-loops which use the translational optic flow that insects employ for collision-free navigation. Optic flow is likely, over the next decade to be one of the most important visual cues that can explain flying insects' behaviors for short-range navigation maneuvers in complex tunnels. Conversely, the biorobotic approach can therefore help to develop innovative flight control systems for flying robots with the aim of mimicking flying insects’ abilities and better understanding their flight.     

The effect of serotonin and octopamine on the optokinetic response of the crab Leptograpsus variegatus

A standard optokinetic response of the ipsilateral and contralateral (driven) eyes of the crab Leptograpsus variegatus to a sinusoidally oscillating striped drum was established. Optokinetic responses were then measured of animals that had been treated by introducing serotonin and octopamine into the blood stream via the heart and also into the neural tissue of the optic lobes via a micropipette. Both serotonin and octopamine enhance the optokinetic effect when applied in low doses. Experiments show that serotonin is most likely acting closer to the sensory input in the optokinetic system.