What the honeybee sees: a review of the recognition system of Apis mellifera

Abstract. For many years, two opposing theories have dominated our ideas of what honeybees see. The earliest proposal based on training experiments was that bees detected only simple attributes or features, irrespective of the actual pattern. The features demonstrated experimentally before 1940 were the disruption of the pattern (related to spatial frequency), the area of black or colour, the length of edge, and the angle of orientation of a bar or grating. Cues discovered recently are the range, and radial and tangential edges, and symmetry, relative to the fixation point, which is usually the reward hole. This theory could not explain why recognition failed when the pattern was moved. In the second theory, proposed in 1969, the bee detected the retinotopic directions of black or coloured areas, and estimated the areas of overlap and nonoverlap on each test pattern with the corresponding positions in the training pattern. This proposal explained the progressive loss of recognition as a test pattern was moved or reduced in size, but required that the bees saw and remembered the layout of every learned pattern and calculated the mismatch with each test image. Even so, the same measure of the mismatch was given by many test patterns and could not detect a pattern uniquely. Moreover, this theory could not explain the abundant evidence of simple feature detectors. Recent work has shown that bees learn one or more of a limited number of simple cues. A newly discovered cue is the position, mainly in the vertical direction, of the common centre (centroid) of black areas combined together. Significantly, however, the trained bees look for the cues mentioned above only in the range of places where they had occurred during the training. These two observations made possible a synthesis of both theories. There is no experimental evidence that the bees detect or re-assemble the layout of patterns in space; instead, they look for a cue in the expected place. With an array of detectors of the known cues, together with their directions, this mechanism would enable bees to recognize each familiar place from the coincidences of cues in different directions around the head.     

Pattern vision of the honeybee (Apis mellifera). What is an oriented edge?

Pairs of black patterns on a white background, one rewarded the other not, were presented vertically each in one arm of a Y-maze. During training the locations of the black areas were changed every 5 min to prevent the bees using them as cues, but cues from edges were kept consistent. Bees detect orientation even in a gradient that subtends 36° from black to white (normal to the edge). Orientation cues in short lengths of edge are detected and summed on each side of the fixation point, irrespective of the lay-out of the pattern. Edges at right angles reduce the total orientation cue. The polarity of edges in a sawtooth grating is weakly discriminated, but not the orientation of a fault line where two gratings meet. Edge quality can be discriminated, but is not recognised in unfamiliar orientations. When spot location is excluded as a cue, the orientation of a row of spots or squares which individually provide no net orientation cue is not discriminated. In conclusion, when locations of black areas are shuffled, the bees remember the sum of local orientation cues but not the global pattern, and there is no re-assembly of a pattern based on differently oriented edges. A neuronal model consistent with these results is presented. Accepted: 5 March 2000     

The anti-intuitive visual system of the honey bee

Because bees fly around, visit flowers and chase mates, we conclude intuitively that they see things as we do. But their vision is unexpectedly different, so we say it is anti-intuitive. Detailed tests have demonstrated separate detectors for modulation of blue and green receptors, edge orientation (green only), and areas of black. The edge detectors are about 3° across, independent, and not re-assembled to make lines, shapes or textures. Instead, the detectors of each type are summed quantitatively to form cues in each local region with an order of preference for learning the cues. Trained bees remember the positions of the total modulation (preferred), the average edge orientation, areas of black or colour, and positions of hubs of radial and circular edges in each local region, but not the original responses, so the pattern is lost. When presented with a yellow spot on a blue background with no UV reflected, the preferred cue is not the colour, but a measure of the modulation detected by the green and separately by the blue receptors.     

Visual resolution of the orientation cue by the honeybee (Apis mellifera)

Bees were trained to discriminate between a pattern with two or more black bars and a similar pattern with the bars at right angles. Earlier measures of the resolution of oblique black and white regular gratings of different periods were confirmed. The positions of the training bars were shifted every 5 min to prevent the bees from using their locations as cues. To measure the length of the detectors of edge orientation, the trained bees were tested with targets filled with parallel short black/white edges of various lengths. The minimum individual length of edge required to discriminate the orientation cue was found to be near 3 degrees, and similar for vertical, horizontal and oblique edges. This is the first time that this kind of resolution has been measured in an invertebrate. The bees learn and recognize the edge orientation, not the lay-out of the pattern.     

Some labels that are recognized on landmarks by the honeybee (Apis mellifera)

Freely flying bees were trained in a situation that resembled the natural task of a bee arriving at a foraging site that was located by a landmark. The bees' task was to locate the reward in the arm of the Y-choice apparatus, where a black pattern on a white background was displayed in one arm versus a white target in the other arm, at a range of 27 cm. The alternative patterns for the training included previously identified cues. They were: an oblique bar, three parallel oblique bars, an oblique grating, a square cross, six spokes, a large or a small spot, a spotty modulation, or a ring. The trained bees were given a variety of interleaved tests to discover the labels they had used to identify the patterns. A label is defined as the coincidence of cues that contributed to the recognition of a single landmark. The bees learned, firstly, the black area at the expected place, secondly, modulation caused by edges at the expected place. These cues were quantified and always available. In addition, the orientation cue was learned from a grating that covered the target, but was ignored in a single bar. The bees learned the positions of the centres of black and of radial symmetry. In tests, they also recognized unfamiliar cues that were not displayed in the training. The cues and preferences were similar to those used to discriminate between two targets. The new experiments validate some old conclusions that have been controversial for 40 years.     

Blue colour preference in honeybees distracts visual attention for learning closed shapes

Spatial vision is an important cue for how honeybees (Apis mellifera) find flowers, and previous work has suggested that spatial learning in free-flying bees is exclusively mediated by achromatic input to the green photoreceptor channel. However, some data suggested that bees may be able to use alternative channels for shape processing, and recent work shows conditioning type and training length can significantly influence bee learning and cue use. We thus tested the honeybees’ ability to discriminate between two closed shapes considering either absolute or differential conditioning, and using eight stimuli differing in their spectral characteristics. Consistent with previous work, green contrast enabled reliable shape learning for both types of conditioning, but surprisingly, we found that bees trained with appetitive-aversive differential conditioning could additionally use colour and/or UV contrast to enable shape discrimination. Interestingly, we found that a high blue contrast initially interferes with bee shape learning, probably due to the bees innate preference for blue colours, but with increasing experience bees can learn a variety of spectral and/or colour cues to facilitate spatial learning. Thus, the relationship between bee pollinators and the spatial and spectral cues that they use to find rewarding flowers appears to be a more rich visual environment than previously thought.     

The effect of complexity on the discrimination of oriented bars by the honeybee (<Emphasis Type="Italic">Apis mellifera</Emphasis>)

Visual discrimination of black bars by honeybees was studied in a Y-choice apparatus with fixed vertical patterns at constant range. The problem is to discover how bees remember different degrees of complexity of the orientation cue. Previous conclusions with parallel gratings and single bars disagree. With broad bars versus orthogonal bars, the bees learn the orientation cue if the bars are centred at the same place, but they learn the position cue in the vertical direction when the bars are at different places on the two targets. With several bars on each target, the bees learn their orientation and positions. As fixed patterns increase in complexity, the bees follow a simple rule, to look only at the range of places where the cues were displayed. The frame of reference is disrupted when a black spot is added to the training pattern. There is abundant evidence that the bees do not re-assemble the pattern or learn shapes. The filters that detect the position and orientation cues are coarsely tuned, so that they respond in a graded way, but the memory of the range of directions of the cue, as seen from the point of choice, is more exact.     

The preferences of the honeybee (Apis mellifera) for different visual cues during the learning process

By working with very simple images, a number of different visual cues used by the honeybee have been described over the past decades. In most of the work, the bees had no control over the choice of the images, and it was not clear whether they learned the rewarded pattern or the difference between two images. Preferences were known to exist when untrained bees selected one pattern from a variety of them, but because the preferences of the bees were ignored, it was not possible to understand how natural images displaying several cues were detected. The preferences were also essential to make a computer model of the visual system. Therefore experiments were devised to show the order of preference for the known cues in the training situation. Freely flying bees were trained to discriminate between a rewarded target with one pattern on the left side and a different one on the right, versus a white or neutral target. This arrangement gave the bees a choice of what to learn. Tests showed that in some cases they learned two or three cues simultaneously; in other cases the bees learned one, or they preferred to avoid the unrewarded target. By testing with different combinations of patterns, it was possible to put the cues into an order of preference. Of the known cues, loosely or tightly attached to eye coordinates, a black or blue spot was the most preferred, followed by strong modulation caused by edges, the orientation of parallel bars, six equally spaced spokes, a clean white target, and then a square cross and a ring. A patch of blue colour was preferred to yellow.     

Recognition of a familiar place by the honeybee (<Emphasis Type="Italic">Apis mellifera</Emphasis>)

Recent work shows that at any one place bees detect a limited variety of simple cues in parallel. At each choice point, they recognize a few cues in the range of positions where the cues occurred during the learning process. There is no need to postulate that they re-assemble the surrounding panorama in memory; only that they retain memories of the coincidences of cues in the expected retinotopic directions. The cues could be stimuli that excite groups of peripheral visual neurons. All the experimentally known cues are described, including modulation of the receptors, the locations of areas of black or colour, the nearness, size, averaged edge orientation, and radial and tangential edges. Cues of each type are separately summed within large fields, the size of which varies with the cue. Local orientation cues from edges at right angles cancel each other within each field, which also suggests that the discrimination of shape and texture is limited. Resolution depends on lateral interactions and the number of ommatidia required for each cue. To identify a new place, a few sparse cues, together with their directions, are learned in orientation flights. When the bee returns, the cues in the panorama are progressively matched as they coincide with the cues in memory. The limited number of cues, though economical for memory, may restrict the foraging behaviour and lead to flower constancy. This kind of a visual system is a candidate model for other animals or machines with economical processing systems.     

Discrimination of coloured patterns by honeybees through chromatic and achromatic cues

We investigated pattern discrimination by worker honeybees, Apis mellifera, focusing on the roles of spectral cues and the angular size of patterns. Free-flying bees were trained to discriminate concentric patterns in a Y-maze. The rewarded pattern could be composed of either a cyan and a yellow colour, which presented both different chromatic and achromatic L-receptor contrast, or an orange and a blue colour, which presented different chromatic cues, but the same L-receptor contrast. The non-rewarded alternative was either a single-coloured disc with the colour of the central disc or the surrounding ring of the pattern, a checkerboard pattern with non-resolvable squares, the reversed pattern, or the elements of the training pattern (disc or ring alone). Bees resolved and learned both colour elements in the rewarded patterns and their spatial properties. When the patterns subtended large visual angles, this discrimination used chromatic cues only. Patterns with yellow or orange central discs were generalised toward the yellow and orange colours, respectively. When the patterns subtended a visual angle close to the detection limit and L-receptor contrast was mediating discrimination, pattern perception was reduced: bees perceived only the pattern element with higher contrast.     

Complex memories in honeybees: can there be more than two?

Foraging honeybees are likely to learn visual and chemical cues associated with many different food sources. Here, we explore how many such sources can be memorized and recalled. Marked bees were trained to visit two (or three) sugar feeders, each placed at a different outdoor location and carrying a different scent. We then tested the ability of the bees to recall these locations and fly to them, when the training scents were blown into the hive, and the scents and food at the feeders were removed. When trained on two feeder locations, each associated with a different scent, the bees could correctly recall the location associated with each scent. However, this ability broke down when the number of scents and feeder locations was increased to three. Performance was partially restored when each of the three training feeders was endowed with an additional cue, namely, a distinct colour. Our results suggest that bees can recall a maximum of two locations when each is associated with a different scent. However, this number can be increased if the scent cues are augmented by visual cues. These findings have implications for the ways in which associations are established and laid down in honeybee memory.     

Pattern discrimination by the honeybee: disruption as a cue

The discrimination of pattern disruption in freely flying honeybees (Apis mellifera) was examined. Bees were trained to discriminate at a fixed distance between a regularly repeated black/white pattern and the same pattern at a different magnification in targets of the same angular size. The locations of areas of black were regularly shuffled to make them useless as cues. The results of the experiments indicate that the bees discriminate the disruption of the pattern as a whole, irrespective of the actual pattern. Bees trained to prefer a larger period transfer to an even larger period, when given a forced choice with a pair of patterns of differing disruption from those they were trained on, as if their spontaneous preference has not been overcome. Bees trained to prefer a smaller period, however, prefer the former negative pattern rather than transfer to an even smaller period. These results show that the bees do not rely solely on learning the absolute period of a pattern nor the relative disruption of two patterns, and they are confused when these two cues conflict in tests with unfamiliar targets. Bees can discriminate between fields of view that differ in average disruption as a generalized cue, irrespective of pattern. Accepted: 7 April 1997     

Pattern discrimination by the honeybee (Apis mellifera ) is colour blind for radial / tangential cues

Bees were trained to discriminate between two patterns, one of which was associated with a reward, in a Y-choice apparatus with the targets presented vertically at a distance at an angular subtense of 50°. Previous work with this apparatus has found discrimination between two patterns of coloured gratings or radial sectors that are fixed in different orientations during the training. When there was contrast to the blue receptors alone, gratings of period 6° were resolved, and 4° when there was contrast to the green receptors. In the present work, bees discriminate between a pattern containing tangentially arranged edges and one containing radially arranged edges, both with no average edge orientation. The targets were rotated every 5 min to make the locations of areas useless as cues. The edges remained consistently radial or tangential and were therefore the only cues. Tests with patterns of selected colours and various levels of grey show that for each colour there is a level of grey at which discrimination fails. Discrimination is therefore colour-blind. The same patterns were made with combinations of coloured papers that give no contrast to the green receptors or alternatively to the blue receptors. The bees discriminate only if the edges between colours present a contrast to the green receptors. The system that discriminates generalized radial and tangential cues is therefore colour blind because the inputs are restricted to the green receptors, not because receptor outputs are added together. The same result was obtained with a very coarse pattern of period 20°. Accepted: 10 January 1999     

Pattern recognition in honeybees: eidetic imagery and orientation discrimination

The roles of eidetic imagery and orientational cues, respectively, in the discrimination of visual patterns by honeybees (Apis mellifera) were evaluated by training the bees to discriminate between patterns consisting of periodic, black and white square wave gratings. Training and tests with a number of different pairs of patterns revealed that bees use orientational cues almost exclusively, if such are present, and make use of eidetic images only when orientational cues are not available. On the other hand, if a pattern carries strong orientational cues, bees learn the orientation even if it is irrelevant to the discrimination task on which they are trained.     

Object detection by honeybees: Why do they land on edges?

Behavioural experiments using a variety of experimental situations (Figs. 1, 3, 6, 7, 9) were conducted to investigate the visual cues which bees use in the task of object-ground discrimination. The bees' flight and landing behaviour was video-filmed throughout the experiments. The evaluation of the video data shows that bees trained to find a randomly textured figure raised above a similarly textured ground land mainly on the boundaries of the figure, facing its inner surface (Fig. 2a, b). Bees can also be trained to find a hole, i.e. a low texture viewed through a window cut in a raised texture, but these bees are not attracted to the edges of the hole (Fig. 5a, b). Bees trained to a single edge between a low and a raised random texture land at the edge mainly facing the raised side (Table 1). Bees approaching the edge from the high side cross the edge in most cases without landing on it (Table 1). Bees trained to an edge between 2 striped patterns, one raised above the other, again land on the edge facing the raised pattern, regardless of whether the stripes on the 2 patterns run parallel or perpendicular to each other or to the edge (Fig. 8). In this case, the bees acquire range information by flying in oblique directions with respect to the orientation of the stripes (Fig. 10). All of the results suggest that the edge elicits landings when the bee perceives a local increase in the speed of image motion, signalling an abrupt decrease in range. This is corroborated by the results of further experiments in which artificial motion was used to simulate range differences between the two sides of an edge (Table 2). We conclude that image speed is a powerful cue in range discrimination as well as object detection. Dedicated to G. Adrian Horridge on the occasion of his retirement     

Visual discriminations of spokes, sectors, and circles by the honeybee (Apis mellifera)

A new cue for visual discrimination by the honeybee has been demonstrated. Bees detected the position of the centre of symmetry of radial patterns of spokes, sectors, and circles relative to their point of choice in the learning process, irrespective of the pattern. When trained with one of these patterns versus a blank target, the bees discriminated a shift in the position of the centre of symmetry by as little as 5 degrees , in some cases with unfamiliar test patterns. A pattern of spokes or rings also stabilized the vision of the bees in the horizontal plane so that the position of a plain black area could then be discriminated. In other experiments, bees discriminated half of a pattern of radial spokes or concentric circles from the other half, cut either vertically or horizontally, and irrespective of scale. Therefore these patterns were not detected by preformed combinations of orientation detectors or global templates with a single output. Instead, the crucial cue for detecting edges as radial or circular was the coincidence of responses of numerous local edge detectors having the appropriate convergence to a hub. Edges that converged towards a hub were detected by the bees as radial, and edges at right angles to these were parts of circles, irrespective of the actual pattern. Breaking the patterns of spokes or circles into rows of squares spoiled the discrimination if the squares were separately resolved. Alternatively, breaking the pattern into short bars that were separately resolved spoiled the discrimination when the bars subtended less than 3 degrees . The local feature detectors for spokes and circles therefore resembled those of the orientation detectors in being short, independent, and unable to span gaps of more than 3 degrees . In conclusion, radial and circular patterns were identified by the regional coincidences and convergence of local detectors of edge orientation, and the positions of the centres of symmetry were remembered as landmarks that helped locate the reward, but the patterns themselves were not remembered.     

The critical cue in pattern discrimination for the honey bee: Color or form?

When honey bees approach blossoms, they are attracted by the color and form of the goal in their visual field, and they use these cues for a successful revisit. Their visual system receives cues by two main types of parallel channels behind the retina; one channel for colors, and a monochrome channel for the orientation and edge of the item in their visual field. In the integration process of these 2 channels, the priority and interaction between them are significant due to the fact that these chromatic and achromatic signals coexist naturally. To investigate this issue, we trained bees to detect form and color and then tested them with combinations of opposite patterns. We observed that the bees chose the correct color but the wrong form pattern in the above experiment as well as for other manipulations as follows. The effect of the color training for the blue reward pattern differed from that of the green reward pattern. The color pattern choices tended to be more correct if blue was the target during the training process, indicating that the chromatic signal was the main cue in pattern discrimination. In other words, color tended to be the decisive factor in a conflicting situation. In addition, the color blue was preferred over the color green, indicating that color preference was involved in visual recognition.     

How Bees Discriminate a Pattern of Two Colours from Its Mirror Image

A century ago, in his study of colour vision in the honeybee (Apis mellifera), Karl von Frisch showed that bees distinguish between a disc that is half yellow, half blue, and a mirror image of the same. Although his inference of colour vision in this example has been accepted, some discrepancies have prompted a new investigation of the detection of polarity in coloured patterns. In new experiments, bees restricted to their blue and green receptors by exclusion of ultraviolet could learn patterns of this type if they displayed a difference in green contrast between the two colours. Patterns with no green contrast required an additional vertical black line as a landmark. Tests of the trained bees revealed that they had learned two inputs; a measure and the retinotopic position of blue with large field tonic detectors, and the measure and position of a vertical edge or line with small-field phasic green detectors. The angle between these two was measured. This simple combination was detected wherever it occurred in many patterns, fitting the definition of an algorithm, which is defined as a method of processing data. As long as they excited blue receptors, colours could be any colour to human eyes, even white. The blue area cue could be separated from the green receptor modulation by as much as 50°. When some blue content was not available, the bees learned two measures of the modulation of the green receptors at widely separated vertical edges, and the angle between them. There was no evidence that the bees reconstructed the lay-out of the pattern or detected a tonic input to the green receptors.     

Vision of the honeybee Apis mellifera for patterns with one pair of equal orthogonal bars

The visual discrimination of patterns of two equal orthogonal black bars by honeybees has been studied in a Y-choice apparatus with the patterns presented vertically at a fixed range. Previous work shows that bees can discriminate the locations of one, or possibly more, contrasts in targets that are in the same position throughout the training. Therefore, in critical experiments, the locations of areas of black were regularly shuffled to make them useless as cues. The bees discriminate consistent radial and tangential cues irrespective of their location on the target during learning and testing. Orientation cues, to be discriminated, must be presented on corresponding sides of the two targets. When orientation, radial and tangential cues are omitted or made useless by alternating them, discrimination is impossible, although the patterns may look quite different to us. The shape or the layout of local cues is not re-assembled from the locations of the bars, even when there are only two bars in the pattern, as if the bees cannot locate the individual bars within the large spatial fields of their global filters.     

Colour association influences honey bee choice between sucrose concentrations

Certain colours associated with floral food resources are more quickly learned by honey bees (Apis mellifera) than are other colours. But the impact of colour, and other floral cues, on bee choice behaviour has not yet been determined. In these experiments, colour association and sugar concentration of reward were varied to assess how they interact to affect bee choice behaviour. Thirty-five bees were individually given binary choices between blue and yellow artificial flowers that contained either the same rewards or rewards of different sucrose concentrations. Honey bee choice between sucrose concentrations was affected by colour association and this effect was greatest when absolute difference between rewards was the lowest. The honey bee's ability to maximize energetic profitability during foraging is constrained by floral cue effectiveness.