Landmark learning and visuo-spatial memories in gerbils

The aim of this study is to understand what a rodent (Meriones unguiculatus) learns about the geometrical relations between a goal and nearby visual landmarks and how it uses this information to reach a goal. Gerbils were trained to find sunflower seeds on the floor of a light-tight, black painted room illuminated by a single light bulb hung from the ceiling. The position of the seed on the floor was specified by an array of one or more landmarks. Once training was complete, we recorded where the gerbils searched when landmarks were present but the seed was absent. In such tests, gerbils were confronted either with the array of landmarks to which they were accustomed or with a transformation of this array. Animals searched in the appropriate spot when trained to find seeds placed in a constant direction and at a constant distance from a single cylindrical landmark. Since gerbils look in one spot and not in a circle centred on the landmark, the direction between landmark and goal must be supplied by cues external to the landmark array. Distance, on the other hand, must be measured with respect to the landmark. Tests in which the size of the landmark was altered from that used in training suggest that distance is not learned solely in terms of the apparent size of the landmark as seen from the goal. Gerbils can still reach a goal defined by an array of landmarks when the room light is extinguished during their approach. This ability implies that they have already planned a trajectory to the goal before the room is darkened. In order to compute such a trajectory, their internal representation of landmarks and goal needs to contain information about the distances and bearings between landmarks and goal. For planning trajectories, each landmark of an array can be used separately from the others. Gerbils trained to a goal specified by an array of several landmarks were tested with one or more of the landmarks removed or with the array expanded. They then searched as though they had computed an independent trajectory for each landmark. For instance, gerbils trained with an array of two landmarks were tested with the distance between two landmarks doubled. The animals then searched for seeds in two positions, which were at the correct distance and in the right direction from each landmark.(ABSTRACT TRUNCATED AT 400 WORDS)     

Some psychophysics of the pigeon's use of landmarks

1. Three pigeons (Columba livia) were trained to find hidden food in a sunken well (3.3 cm in diameter) at a constant place within an (160 cm x 160 cm) experimental box (Fig. 1). After learning the location, the animals were tested occasionally with the well and food absent. Landmarks in the experimental box might be transformed on such tests. 2. Changing the height or width of a nearby landmark had no systematic influence on the position of peak search. Translating a nearby landmark, however, led to a shift in peak search position. All three birds then searched most somewhere between the original goal location, as defined by the unmoved landmarks, and the goal location as defined by the shifted landmark. Within a limited range of landmark shift, the peak shift as a function of landmark shift is linear (Fig. 3). 3. To explain the data (Fig. 7), the pigeon records at the location of the goal the algebraic vectors from a number of landmarks to the goal. These vectors have both a direction and a distance component. When searching for the goal again in the experimental box, it computes independently for each landmark a navigation vector. This is arrived at by vector-adding the algebraic vector from the bird's current position to the landmark in question, supplied by perception, to the corresponding landmark-goal vector in its record. The pigeon moves in the direction and distance specified by a weighted average of the independently calculated navigation vectors. For positive vector weights, vector geometry guarantees that the bird would search somewhere between the original goal and the goal according to the shifted landmark. The extent to which it shifts toward the shifted goal reflects the vector weight given to the shifted landmark.     

The retrieval of visuo-spatial memories by honeybees

Summary In order to explore how honeybees manage to retrieve the right landmark-memory in the right place, we trained bees along a short foraging route which consisted of two identical huts 33 m apart. Bees entered each hut to collect a drop of sucrose on the floor. The location of the drop was defined by the same arrangement of four blue and yellow cylindrical landmarks. However, in one hut the drop was between two yellow cylinders and in two other it was to the east of the blue cylinders. On tests with the sucrose missing, bees tended to search in the appropriate area in each hut (Fig. 1), thus showing that they used cues other than the sight of the local landmarks to select the appropriate memory.In a second experiment, the position of the sucrose was specified by yellow cylinders in one hut and by blue triangles in the other. When the arrays were swapped between huts, bees searched in the position specified by the array they encountered (Fig. 2). Thus, memories can be triggered by visual features of local landmarks.Bees were also trained outside to collect food from two platforms 40 m apart. The location of sucrose on one platform was defined by yellow cylinders, and on the other it was defined by blue triangles. When these arrays were exchanged between platforms, bees searched on each platform as though the landmarks had not been swapped. It seems that the more distant surroundings, which fill most of the visual field, may be more potent than the local landmarks in deciding which memory should be retrieved.It is argued that one role of distant landmarks and other contextual cues is to ensure that bees retrieve the correct memory of a constellation of local landmarks while the bees are still some distance away from their goal. Even at a short distance, a bee's current image of local landmarks may differ considerably from its stored representation of those landmarks as seen from the goal. Accurate recall of the appropriate memory will be more certain if it is primed by relatively distant landmarks which present a more constant image as a bee moves in the vicinity of its goal.     

Visual landmarks and route following in desert ants

Summary Little is known about the way in which animals far from home use familiar landmarks to guide their homeward path. Desert ants, Cataglyphis spp., which forage individually over long distances are beginning to provide some answers. We find that ants running 30 m from a feeding place to their nest memorise the visual characteristics of prominent landmarks which lie close to their path. Although remembered visual features are used for identifying a landmark and for deciding whether to go to its left or right, they are not responsible for the detailed steering of an ant's path. The form of the trajectory as an ant approaches and detours around a landmark seems to be controlled by the latter's immediate retinal size; the larger it is, the greater the ant's turning velocity away from the landmark.     

Blocking of spatial control by landmarks in rats

We investigated spatial blocking among landmarks in an open-field foraging task in rats. In Phase 1, rats were presented with A+ trials during which landmark (LM) A signaled the location of hidden food. In Phase 2, rats were given AX+ trials in which LM X served as a redundant spatial cue to the location of food. Additionally, BY+ trials were given as a within-subjects overshadowing-control procedure. At test, rats received nonreinforced presentations of LM X and LM Y on separate trials. Rats took longer to find the training goal location in the presence of LM X than of LM Y, thereby demonstrating that spatial control by LM X was blocked by prior learning with LM A. This constitutes the first evidence in rats for spatial blocking of one proximal landmark by another—approximating a conventional blocking design.     

Effects of landmarks on territorial establishment

The period of territorial settlement is critical for territorial species, and the initial disputes to fix the boundaries can be energetically expensive. Territorial residents may be able to reduce defensive costs during settlement by selecting territories with landmarks at the sites of potential boundaries. We examined the effects of landmarks on defensive costs in a laboratory study of a cichlid fish, the blockhead, Steatocranus casuarius. In the landmark treatment, we placed a row of flat rocks across the centre of the aquaria; trials in the control treatment were identical but lacked landmarks. When landmarks were present, blockheads spent significantly less time in territorial defence, as they had fewer and shorter aggressive interactions with their neighbours. In addition, fights in landmark trials tended to be of lower intensity than fights in control trials: most fights in landmark trials included only low-level displays but most fights in control trials included physical contact. Both of these measures thus indicated that defensive costs were lowered by landmarks. In addition, in landmark trials typically both pairs of fish successfully established territories; in contrast, in control trials generally only one pair was able to establish a territory, with the other pair being evicted. The presence of landmarks appeared to make possible the division of the area available for settlement, with pairs establishing smaller territories than when there were no landmarks. Copyright 2003 Published by Elsevier Science Ltd on behalf of The Association for the Study of Animal Behaviour.      

Retrosplenial cortex codes for permanent landmarks

Landmarks are critical components of our internal representation of the environment, yet their specific properties are rarely studied, and little is known about how they are processed in the brain. Here we characterised a large set of landmarks along a range of features that included size, visual salience, navigational utility, and permanence. When human participants viewed images of these single landmarks during functional magnetic resonance imaging (fMRI), parahippocampal cortex (PHC) and retrosplenial cortex (RSC) were both engaged by landmark features, but in different ways. PHC responded to a range of landmark attributes, while RSC was engaged by only the most permanent landmarks. Furthermore, when participants were divided into good and poor navigators, the latter were significantly less reliable at identifying the most permanent landmarks, and had reduced responses in RSC and anterodorsal thalamus when viewing such landmarks. The RSC has been widely implicated in navigation but its precise role remains uncertain. Our findings suggest that a primary function of the RSC may be to process the most stable features in an environment, and this could be a prerequisite for successful navigation.     

Capturing data from three-dimensional surfaces using fuzzy landmarks

Anatomical landmarks are defined as biologically meaningful loci that can be unambiguously defined and repeatedly located with a high degree of accuracy and precision. The neurocranial surface is characteristically void of such loci. We define a new class of landmarks, termed fuzzy landmarks, that will allow us to represent the form of the neurocranium. A fuzzy landmark represents the position of a biological structure that is precisely delineated, but occupies an area that is larger than a single point in the observer's reference system. In this study, we present a test case in which the cranial bosses are evaluated as fuzzy landmarks. Five fuzzy landmarks (the cranial bosses) and three traditional landmarks were placed repeatedly by a single observer on three-dimensional (3D) computed tomography (CT) surface reconstructions of pediatric dry skulls and skulls of pediatric patients, and directly on four of the same dry skulls using a 3Space digitizer. Thirty landmark digitizing trials from CT scans show an average error of 1.15 mm local to each fuzzy landmark, while the average error for the last ten trials was 0.75 mm, suggesting a learning curve. Data collected with the 3Space digitizer was comparable. Measurement error of fuzzy landmarks is larger than that of traditional landmarks, but is acceptable, especially since fuzzy landmarks allow inclusion of areas that would otherwise go unsampled. The information obtained is valuable in growth studies, clinical evaluation, and volume measurements. Our method of fuzzy landmarking is not limited to cranial bosses, and can be applied to any other anatomical features with fuzzy boundaries. Am J Phys Anthropol 107:113–124, 1998. © 1998 Wiley-Liss, Inc.     

The significance of visual landmarks for navigation of the giant tropical ant,Paraponera clavata (Formicidae,Ponerinae)

Summary Workers of the giant tropical ant,Paraponera clavata, use trail pheromones for orientation and recruitment of nestmates. However, chemical markings may not always be sufficient for successful navigation in complex three-dimensional terrain, and additional orientation cues may be required. Behavioral field experiments were performed to investigate the significance of visual landmarks for homing foragers. Animals which were prevented from seeing the canopy were unable to navigate back to the nest, even though trail pheromones were still present. In contrast, foragers found their way back to the nest after their trail pheromones had been abolished but their visual scenes remained unchanged. This emphasizes the important role of visual landmarks during spatial orientation in homingP. clavata foragers. Individually foraging scouts were discovered in the understory of the forest floor up to 30 m away from their nest. They were rewarded, and displaced between 0.8 m and 13.6 m. Fifteen out of 16 animals had no difficulties in finding the nest entrance despite the altered appearance of local and distant landmarks at the release site. Apparently the scouts were able to recognize the visual scenes at the release site, and used them for reference to locate the nest entrance. In contrast, ants displaced from their nest to sites around 4 m away had more difficulties to re-find the nest.     

Landmark maps for honeybees

Experiments by Fabre (1915), Thorpe (1950), Chmurzynski (1964), and most recently Gould (1986) suggest that insects have maps of their terrain which enable them to find their way directly to a goal when they are displaced several hundred metres from it. This paper discusses what might constitute an insect's map in terms of a two-part computational model. The first part describes how an insect reaches a goal when the insect is sufficiently close that it can see some of the landmarks which are visible from the goal. The second part considers the problem of navigating when there is no similarity between the view from the release-site and the view from the goal.We start from a model designed to explain how a bee might return to a goal using a two-dimensional snapshot of the landscape seen from the goal (Collett and Cartwright 1983). To guide its return, the model bee continuously compares its snapshot with its current retinal image and moves so as to reduce the discrepancy between the two. Bees can only be guided in the right direction by the difference between current retinal image and snapshot when there is some resemblance between the two. In a realistically cluttered world, snapshot and retinal image become very dis-similar only a short distance from the goal.To increase the distance from which a model bee can return, the bee takes two snapshots at the goal. The first snapshot excludes landmarks near to the goal and the second snapshot includes them. With close landmarks filtered from both snapshot and retinal image, the match between the two deteriorates gradually as the bee moves away from the goal. A model bee using a filtered snapshot and image finds its way back to the neighbourhood of the goal from a relatively long distance (Fig. 2). The bee then switches to the second snapshot and is guided to the precise spot by its memory of the close landmarks.For longer range guidance, the model bee is equipped with an album of snapshots, each taken at a different location within the terrain. Linked to each snapshot is a vector encoding the distance and direction from the place where the snapshot was taken to the hive. When the bee is displaced to a new position, it selects the snapshot which best matches its current image and follows the associated home-vector back to the hive (Fig. 3). Such a hive-centred map can also be used to devise novel routes to places other than the hive. For instance, a bee can reach a foraging site from anywhere in its terrain by adding the home-vector recalled at the starting position to a vector specifying the distance and direction of the foraging site from the hive. The sum of these two vectors defines a direct trajectory to the foraging site.     

A field study investigating effects of landmarks on territory size and shape

Few studies have examined how landmarks affect territories'' fundamental characteristics. In this field study, we investigated effects of landmarks on territory size, shape and location in a cichlid fish (Amatitlania siquia). We provided cans as breeding sites and used plastic plants as landmarks. During 10 min trials, we recorded locations where residents chased intruders and used those locations to outline and measure the territory. In two experiments, we observed pairs without landmarks and with either a point landmark (one plant) or linear landmark (four plants) placed near the nest can. We alternated which trial occurred first and performed the second trial 24 h after the first. Territories were approximately round without landmarks or with a point landmark but were significantly more elongated when we added a linear landmark. Without landmarks, nests were centrally located; however, with any landmark, pairs set territory boundaries closer to the landmark and thus the nest. Territory size was significantly reduced in the presence of any landmark. This reduction suggests that a smaller territory with well-defined boundaries has greater benefits than a larger territory with less well-defined borders.     

Influence of visual targets and landmarks on honey bee foraging and waggle dancing

Animals use diverse sensory stimuli to navigate their environment and to recognize rewarding food sources.Honey bees use visual atributes of the targeted food source,such as its color,shape,size,direction and distance from the hive,and the landmarks around it to navigate during foraging.They transmit the location information of the food source to other bees if it is highly rewarding.To investigate the relative importance of these attributes,we trained bees to feeders in two different experiments.In the first experiment,we asked whether bees prefer to land on(a)a similar feeder at a different distance on the same heading or on(b)a visually distinct feeder located at the exact same location.We found that,within a short foraging range,bees relied heavily on the color and the shape of the food source and to a lesser extent on its distance from the hive.In the second experiment,we asked if moving the main landmark or the feeder(visual target)influenced recruitment dancing for the feeder.We found that foragers took longer to land and danced fewer circuits when the location of the food source,or a major landmark associated with it,changed.These results demonstrate that prominent visual atributes of food sources and landmarks are evidently more reliable than distance information and that foraging bees heavily utilize these visual cues at the later stages of their journey.     

Can the antCataglyphis cursor (Hymenoptera: Formicidae) encode global landmark-landmark relationships in addition to isolated landmark-goal relationships?

The antCataglyphis cursor was tested for its landmark-based homing in a laboratory setting. Workers were induced to go down a tube at the center of an arena to forage. On the periphery of the arena were four different black shapes serving as the only distinguishing visual landmarks, i.e., a cross, a circle, a triangle, and a square. The purpose was to show that the spatial memory of ants represents something of the overall arrangement of landmarks. When first released into the arena, the ants were not oriented toward home in their navigation. After 2 days of free access in the usual landmark setup, the ants learned to orient rapidly significantly goalward. When landmarks were all removed, they did not orient in any direction significantly. When the landmarks were rotated by 90°, their compass positions were changed but their relative positions maintained, and the ants rotated their heading by a similar amount. This rotated homing direction implies that the array of landmarks was used as the only source of directional determination. When the landmark nearest their home was absent, but the other three were in their usual places, the ants were slightly homeward oriented at one-quarter of the way, but not at one-half of the way when the other landmarks were behind them. When the landmarks were randomly permuted, both their compass positions and their overall spatial relationships were altered, and the ants were not significantly oriented in any direction. These results indicate that spatial memory in the antC. cursor encodes global landmark-landmark relations. Thus, ants can abstract certain topological properties of their environment.     

Captive cotton‐top tamarins' (Saguinus oedipus oedipus) use of landmarks to localize hidden food items

Seventeen captive cotton‐top tamarins (Saguinus oedipus oedipus) were individually tested on their use of spatial relationships between landmarks to locate multiple hidden food items. In two experiments, the tamarins were presented with a spatial‐foraging task in which positions of hidden food rewards were fixed in relation to an array of visual cues. In Experiment 1, the cues+hidden food configuration was rotated 90° and the tamarins were successful in locating the food items significantly above chance levels (P<0.01). In Experiment 2 the cues+hidden food configuration was translated (up, down or sideways) from the previously learned configuration, and the monkeys successfully localized the hidden food items (P<0.001). Results indicate that the tamarins relied on the spatial relationship between the multiple landmarks to locate hidden food items rather than on an associative or beacon strategy. The results of these experiments support the contention that when contextually appropriate these captive New World monkeys have the capacity to rely on the spatial relationship or positions of several cues as an array to localize points in their environment. Am. J. Primatol. 71:316–323, 2009. © 2009 Wiley‐Liss, Inc.     

Ant navigation en route to the goal: signature routes facilitate way-finding of Gigantiops destructor

We investigated in laboratory conditions how foragers of the tropical ant Gigantiops destructor develop individually distinctive landmark routes. Way-finding along a familiar route involved the recognition of at least two locations, nest and feeding site, and the representation of spatial relations between these places. Familiar visual landmarks were important both at the beginning and at the end of the foraging journey. A motor routine guided the ants at the start of their foraging path towards the first landmarks, which they learnt to pass consistently on the same side, before taking the next direction. At the last stage of the route, landmark recognition allowed them to pinpoint their preferred feeding site without using distant cues or odometric information. By contrast, ants en route to the goal were not systematically guided by a stereotyped sequence of snapshots recalled at each corresponding stage of the route. Each ant slalomed in an idiosyncratic distinctive way around different midway landmarks from a foraging excursion to the next, which induced a variability of the path shapes in their intermediate parts. By reducing the number of landmark recognition-triggered responses, this economical visuomotor strategy may be helpful in the Amazonian forest where many prominent landmarks are alike.     

Homing in the swimming crab Thalamita crenata: a mechanism based on underwater landmark memory

We investigated whether Thalamita crenata, a swimming crab found on the East African intertidal flats, uses landmarks to locate its refuges. We modified the visual panorama of an intertidal flat, using conspicuous movable objects, and conducted homing trials with the local population of swimming crabs. In the first set of trials, after being moved away from their dens, the crabs were immediately able to find other known dens, using direct shortcut paths. In the second set of trials we moved all the artificial landmarks surrounding a crab's den 5 m away and then displaced the crab itself. The crabs made initial navigational errors in accordance with the new position of the landmarks; this shows that they oriented themselves by remembering the landmarks. We then repositioned the landmarks and released the crabs far from the familiar area, on a similar flat. This time the crabs could rely only on the artificial landmarks; they used this information and reached the point where home should have been according to the landmarks. Thus, T. crenata showed good spatial knowledge, based on the storage of landmark memories. This orienting mechanism is much more flexible and complex than those of other crabs and is comparable to the route-based memory of honeybees, Apis mellifera. Copyright 2000 The Association for the Study of Animal Behaviour.     

Competition between landmarks in spatial learning: the role of proximity to the goal

In two experiments, rats were trained to find a hidden platform in a Morris pool in the presence of two landmarks. Landmark B was present on all training trials, on half the trials accompanied by landmark A, on the remainder by landmark C. For rats in Group Bn, B was near the location of the platform; for those in Group Bf, B was far from the platform. Group Bn performed better than Group Bf on test trials to B alone, but significantly worse on test trials to a new configuration formed by A and C. Thus, the spatial proximity of B to the platform affected not only how well it could be used to locate the platform, but also its ability to prevent learning about other landmarks.     

Dung beetles ignore landmarks for straight-line orientation

Upon locating a suitable dung pile, ball-rolling dung beetles shape a piece of dung into a ball and roll it away in a straight line. This guarantees that they will not return to the dung pile, where they risk having their ball stolen by other beetles. Dung beetles are known to use celestial compass cues such as the sun, the moon and the pattern of polarised light formed around these light sources to roll their balls of dung along straight paths. Here, we investigate whether terrestrial landmarks have any influence on straight-line orientation in dung beetles. We find that the removal or re-arrangement of landmarks has no effect on the beetle’s orientation precision. Celestial compass cues dominate straight-line orientation in dung beetles so strongly that, under heavily overcast conditions or when prevented from seeing the sky, the beetles can no longer orient along straight paths. To our knowledge, this is the only animal with a visual compass system that ignores the extra orientation precision that landmarks can offer.     

Target-directed Orientation in Displaced Honeybees

Under sunny weather conditions, displaced honeybees (Apis mellifera) usually fly into the celestial compass direction and thus may be misled from their goal, or they are disorientated. Under cloudy conditions, they may determine the celestial compass direction from prominent landmarks. They may also fly directly toward their goal from a release site. In two experiments, we investigated the orientation of displaced bees when a landmark (target) was close to the goal under different weather conditions. It is shown that in sunny conditions, the celestial compass will override target orientation under most conditions. Under 100% cloud cover, the celestial compass direction retrieved from landmarks modulates target-orientated behaviour but is not by itself a primary orientation factor. The bees will fly toward a previously encountered landmark that signals the target, and in case of several similar landmarks which are visible to the bees, they will choose the one in the direction nearest the celestial compass direction. The results indicate that honeybee orientation is the result of a set of context-specific interdependent orientation mechanisms.     

Finding landmarks - An investigation of viewing behavior during spatial navigation in VR using a graph-theoretical analysis approach

Vision provides the most important sensory information for spatial navigation. Recent technical advances allow new options to conduct more naturalistic experiments in virtual reality (VR) while additionally gathering data of the viewing behavior with eye tracking investigations. Here, we propose a method that allows one to quantify characteristics of visual behavior by using graph-theoretical measures to abstract eye tracking data recorded in a 3D virtual urban environment. The analysis is based on eye tracking data of 20 participants, who freely explored the virtual city Seahaven for 90 minutes with an immersive VR headset with an inbuild eye tracker. To extract what participants looked at, we defined “gaze” events, from which we created gaze graphs. On these, we applied graph-theoretical measures to reveal the underlying structure of visual attention. Applying graph partitioning, we found that our virtual environment could be treated as one coherent city. To investigate the importance of houses in the city, we applied the node degree centrality measure. Our results revealed that 10 houses had a node degree that exceeded consistently two-sigma distance from the mean node degree of all other houses. The importance of these houses was supported by the hierarchy index, which showed a clear hierarchical structure of the gaze graphs. As these high node degree houses fulfilled several characteristics of landmarks, we named them “gaze-graph-defined landmarks”. Applying the rich club coefficient, we found that these gaze-graph-defined landmarks were preferentially connected to each other and that participants spend the majority of their experiment time in areas where at least two of those houses were visible. Our findings do not only provide new experimental evidence for the development of spatial knowledge, but also establish a new methodology to identify and assess the function of landmarks in spatial navigation based on eye tracking data.