An optical flow-based integrated navigation system inspired by insect vision

Some insects use optic flow (OF) to perform their navigational tasks perfectly. Learning from insects' OF navigation strategies, this article proposes a bio-inspired integrated navigation system based on OF. The integrated navigation system is composed of an OF navigation system (OFNS) and an OF aided navigation system (OFAN). The OFNS uses a simple OF method to measure motion at each step along a path. The position information is then obtained by path integration. However, path integration leads to cumulative position errors which increase rapidly with time. To overcome this problem, the OFAN is employed to assist the OFNS in estimating and correcting these cumulative errors. The OFAN adopts an OF-based Kalman filter (KF) to continuously estimate the position errors. Moreover, based on the OF technique used in the OFNS, we develop a new OF method employed by the OFAN to generate the measurement input of the OF-based KF. As a result, both the OFNS and the OFAN in our integrated navigation system are derived from the same OF method so that they share input signals and some operations. The proposed integrated navigation system can provide accurate position information without interference from cumulative errors yet doing so with low computational effort. Simulations and comparisons have demonstrated its efficiency.     

A Novel Augmented Reality Navigation System for Endoscopic Sinus and Skull Base Surgery: A Feasibility Study

Objective

To verify the reliability and clinical feasibility of a self-developed navigation system based on an augmented reality technique for endoscopic sinus and skull base surgery.

Materials and Methods

In this study we performed a head phantom and cadaver experiment to determine the display effect and accuracy of our navigational system. We compared cadaver head-based simulated operations, the target registration error, operation time, and National Aeronautics and Space Administration Task Load Index scores of our navigation system to conventional navigation systems.

Results

The navigation system developed in this study has a novel display mode capable of fusing endoscopic images to three-dimensional (3-D) virtual images. In the cadaver head experiment, the target registration error was 1.28 ± 0.45 mm, which met the accepted standards of a navigation system used for nasal endoscopic surgery. Compared with conventional navigation systems, the new system was more effective in terms of operation time and the mental workload of surgeons, which is especially important for less experienced surgeons.

Conclusion

The self-developed augmented reality navigation system for endoscopic sinus and skull base surgery appears to have advantages that outweigh those of conventional navigation systems. We conclude that this navigational system will provide rhinologists with more intuitive and more detailed imaging information, thus reducing the judgment time and mental workload of surgeons when performing complex sinus and skull base surgeries. Ultimately, this new navigational system has potential to increase the quality of surgeries. In addition, the augmented reality navigational system could be of interest to junior doctors being trained in endoscopic techniques because it could speed up their learning. However, it should be noted that the navigation system serves as an adjunct to a surgeon’s skills and knowledge, not as a substitute.     

Avian navigation and geographic positioning

Site fidelity to breeding and wintering grounds, and even stopover sites, suggests that passerines are capable of accurate navigation during their annual migrations. Geolocator‐based studies are beginning to demonstrate precise population‐specific migratory routes and even some interannual consistency in individual routes. Displacement studies of birds have shown that at least adult birds are capable of goal‐oriented movements, likely involving some type of map or geographic position system. In contrast, juveniles on their first migration use a clock‐and‐compass orientation strategy, with limited knowledge about locations along their migratory routes. Positioning information could come from a variety of cues including visual, olfactory, acoustic, and geomagnetic sources. How information from these systems is integrated and used for avian navigation has yet to be fully articulated. In this review, we (1) define geographic positioning and distinguish the types of navigational strategies that birds could use for orientation, (2) describe sensory cues available to birds for geographic positioning, (3) review the evidence for geographic positioning in birds and methods used to collect that evidence, and (4) discuss ways ornithologists, particularly field ornithologists, can contribute to and advance our knowledge of the navigational abilities of birds. Few studies of avian orientation and navigation mechanisms have been conducted in the Western Hemisphere. To fully understand migratory systems in the Western Hemisphere and develop better conservation policies, information about the orientation and navigation mechanisms used by specific species needs to be integrated with other aspects of their migration ecology and biology.     

Latent learning,shortcuts and detours: a computational model

Voicu and Schmajuk (Rob. Auto. Syst. 35 (2001a) 23) described a model of spatial navigation and exploration that includes an action system capable of guiding, with the help of a cognitive system, the search for specific goals as determined by a motivation system. Whereas in the original model the cognitive map stores information about the connectivity between places in the environment, in the present version the cognitive map also stores information about the paths traversed by the agent. Computer simulations show that the network correctly describes experimental results including latent learning in a maze, detours in a maze, and shortcuts in an open field. In addition, the model generates novel predictions about detours and shortcuts in an open field.     

Multisensory Control of Multimodal Behavior: Do the Legs Know What the Tongue Is Doing?

Understanding of adaptive behavior requires the precisely controlled presentation of multisensory stimuli combined with simultaneous measurement of multiple behavioral modalities. Hence, we developed a virtual reality apparatus that allows for simultaneous measurement of reward checking, a commonly used measure in associative learning paradigms, and navigational behavior, along with precisely controlled presentation of visual, auditory and reward stimuli. Rats performed a virtual spatial navigation task analogous to the Morris maze where only distal visual or auditory cues provided spatial information. Spatial navigation and reward checking maps showed experience-dependent learning and were in register for distal visual cues. However, they showed a dissociation, whereby distal auditory cues failed to support spatial navigation but did support spatially localized reward checking. These findings indicate that rats can navigate in virtual space with only distal visual cues, without significant vestibular or other sensory inputs. Furthermore, they reveal the simultaneous dissociation between two reward-driven behaviors.     

Learning to solve a spatial task in a water maze in aggressive and submissive mice

Learning and retention of the spatial memory were studied in mice with alternative under conditions of various experimental protocols. Visible and hidden platform acquisition in a simple model of the water maze was similarly fast both in aggressive and submissive mice, but extinction differed. Retention of the platform location preference persisted in aggressive mice in four testing trials. In submissive mice, extiction of the spatial memory was accompanied with a prolongation of search with parallel production of episodes of "passive drift". Differences in spatial learning between aggressive and submissive mice were revealed in a water maze complicated with partitions. In this case, aggressors were able to learn the position of a hidden platform (in contrast to submissive mice with the dominant response of "passive drift"). During testing the response, aggressive mice longer retained the spatial preference without extinction.     

Real-Time Bladder Lesion Registration and Navigation: A Phantom Study

Background

Bladder cancer is the fourth most common malignancy in men, with a recurrence rate of 33–64%. Tumor documentation during cystoscopy of the bladder is suboptimal and might play a role in these high recurrence rates.

Objective

In this project, a bladder registration and navigation system was developed to improve bladder tumor documentation and consequently increase reproducibility of the cystoscopy.

Materials/Methods

The bladder registration and navigation system consists of a stereo-tracker that tracks the location of a newly developed target, which is attached to the endoscope during cystoscopy. With this information the urology registration and navigation software is able to register the 3D position of a lesion of interest. Simultaneously, the endoscopic image is captured in order to combine it with this 3D position. To enable navigation, navigational cues are displayed on the monitor, which subsequently direct the cystoscopist to the previously registered lesion. To test the system, a rigid and a flexible bladder phantom was developed. The system''s robustness was tested by measuring the accuracy of registering and navigating the lesions. Different calibration procedures were compared. It was also tested whether system accuracy is limited by using a previously saved calibration, to avoid surgical delay due to calibration. Urological application was tested by comparing a rotational camera (fixed to the rotating endoscope) to a non-rotational camera (dangling by gravity) used in standard urologic practice. Finally, the influence of volume differences on registering and navigating was tested.

Results/Conclusion

The bladder registration and navigation system has an acceptable accuracy for bladder lesion registration and navigation. Limitations for patient determinants included changes in bladder volume and bladder deformation. In vivo studies are required to measure the effect of these limitations and functionality in urological practice as a tool to increase reproducibility of the cystoscopy.     

Short-Term Memory Maintenance of Object Locations during Active Navigation: Which Working Memory Subsystem Is Essential?

The goal of the present study was to examine the extent to which working memory supports the maintenance of object locations during active spatial navigation. Participants were required to navigate a virtual environment and to encode the location of a target object. In the subsequent maintenance period they performed one of three secondary tasks that were designed to selectively load visual, verbal or spatial working memory subsystems. Thereafter participants re-entered the environment and navigated back to the remembered location of the target. We found that while navigation performance in participants with high navigational ability was impaired only by the spatial secondary task, navigation performance in participants with poor navigational ability was impaired equally by spatial and verbal secondary tasks. The visual secondary task had no effect on navigation performance. Our results extend current knowledge by showing that the differential engagement of working memory subsystems is determined by navigational ability.     

Lesions of the Basal Forebrain Cholinergic System in Mice Disrupt Idiothetic Navigation

Loss of integrity of the basal forebrain cholinergic neurons is a consistent feature of Alzheimer’s disease, and measurement of basal forebrain degeneration by magnetic resonance imaging is emerging as a sensitive diagnostic marker for prodromal disease. It is also known that Alzheimer’s disease patients perform poorly on both real space and computerized cued (allothetic) or uncued (idiothetic) recall navigation tasks. Although the hippocampus is required for allothetic navigation, lesions of this region only mildly affect idiothetic navigation. Here we tested the hypothesis that the cholinergic medial septo-hippocampal circuit is important for idiothetic navigation. Basal forebrain cholinergic neurons were selectively lesioned in mice using the toxin saporin conjugated to a basal forebrain cholinergic neuronal marker, the p75 neurotrophin receptor. Control animals were able to learn and remember spatial information when tested on a modified version of the passive place avoidance test where all extramaze cues were removed, and animals had to rely on idiothetic signals. However, the exploratory behaviour of mice with cholinergic basal forebrain lesions was highly disorganized during this test. By contrast, the lesioned animals performed no differently from controls in tasks involving contextual fear conditioning and spatial working memory (Y maze), and displayed no deficits in potentially confounding behaviours such as motor performance, anxiety, or disturbed sleep/wake cycles. These data suggest that the basal forebrain cholinergic system plays a specific role in idiothetic navigation, a modality that is impaired early in Alzheimer’s disease.     

Does Spatial Locative Comprehension Predict Landmark-Based Navigation?

In the present study we investigated the role of spatial locative comprehension in learning and retrieving pathways when landmarks were available and when they were absent in a sample of typically developing 6- to 11-year-old children. Our results show that the more proficient children are in understanding spatial locatives the more they are able to learn pathways, retrieve them after a delay and represent them on a map when landmarks are present in the environment. These findings suggest that spatial language is crucial when individuals rely on sequences of landmarks to drive their navigation towards a given goal but that it is not involved when navigational representations based on the geometrical shape of the environment or the coding of body movements are sufficient for memorizing and recalling short pathways.     

Advances in the neural bases of orientation and navigation

The ability to locomote in one direction (oriented movement),and the ability to navigate toward a distant goal are relatedbehaviors that are phylogenetically widespread. Orientationbehaviors include finding the source of an odor or acousticsignal, using a sun-compass for guidance, and moving relativeto fluid-dynamic cues. Such abilities might require little morethan directionally selective sensors coupled to a turning mechanism.This type of behavior, therefore, can be implemented by relativelysimple circuits. In contrast, navigation involves both the abilityto detect direction, as well as a map-sense that provides position.Navigation is less common and arguably requires greater braincomputation than does simple orientation, but may be presentin arthropods as well as in vertebrates. Great progress hasbeen made in exploring the biophysical and sensory bases forthese behaviors, and in recent years the locations and the identityof the cellular transducers of the sensory stimuli (for example,geomagnetic fields) have been narrowed in some taxa. Similarly,neurons within the central nervous that most likely functionin higher order computational processes have been identified.For example, direction-selective and position-responsive braincells have been located in the brains of mammals and birds,and these cells might contribute to a cognitive map that canenable navigation. One model organism in which orientation andnavigation has been extensively studied is the sea slug Tritoniadiomedea. This animal orients its crawling to chemical, hydrodynamic,and geomagnetic cues. The brain of Tritonia has 7000 relativelylarge neurons that facilitate circuit analysis. Recent workhas characterized both peripheral and central neural correlatesof orientation signals, as well as the control of thrust andturning, and studies of their field behavior have suggestedhow these disparate orientation systems may be integrated. Thesefindings provide the basis for future studies to determine howthe nervous system combines multiple sensory cues into a complexhierarchy of signals that can direct motor output and thereforeguide navigational tasks.     

No Sex or Age Difference in Dead-Reckoning Ability among Tsimane Forager-Horticulturalists

Sex differences in reproductive strategy and the sexual division of labor resulted in selection for and maintenance of sexual dimorphism across a wide range of characteristics, including body size, hormonal physiology, behavior, and perhaps spatial abilities. In laboratory tasks among undergraduates there is a general male advantage for navigational and mental-rotation tasks, whereas studies find female advantage for remembering item locations in complex arrays and the locations of plant foods. Adaptive explanations of sex differences in these spatial abilities have focused on patterns of differential mate search and routine participation in distinct subsistence behaviors. The few studies to date of spatial ability in nonindustrial populations practicing subsistence lifestyles, or across a wider age range, find inconsistent results. Here we examine sex- and age-based variation in one kind of spatial ability related to navigation, dead-reckoning, among Tsimane forager horticulturalists living in lowland Bolivia. Seventy-three participants (38 male) aged 6–82 years pointed a handheld global positioning system (GPS) unit toward the two nearest communities and the more distant market town. We find no evidence of sex differences in dead reckoning (p?=?0.47), nor do we find any evidence of age-related decline in dead-reckoning accuracy (p?=?0.28). Participants were significantly more accurate at pointing toward the market town than toward the two nearest villages despite its being significantly farther away than the two nearest communities. Although Tsimane do show sexual dimorphism in foraging tasks, Tsimane women have extensive daily and lifetime travel, and the local environment lacks directional cues that typically enhance male navigation. This study raises the possibility that greater similarity in mobility patterns because of overlapping subsistence strategies and activities may result in convergence of some male and female navigation abilities.     

Positional entropy during pigeon homing I: application of Bayesian latent state modelling

In these two companion papers, we introduce a new approach to the analysis of bird navigation which brings together several novel mathematical and technical applications. Miniaturized GPS logging devices provide track data of sufficiently high spatial and temporal resolution that considerable variation in flight behaviour can be observed remotely from the form of the track alone. We analyse a fundamental measure of bird flight track complexity, spatio-temporal entropy, and explore its state-like structure using a probabilistic hidden Markov model. The emergence of a robust three-state structure proves that the technique has analytical power, since this structure was not obvious in the tracks alone. We propose the hypothesis that positional entropy is indicative of underlying navigational uncertainty, and that familiar area navigation may break down into three states of navigational confidence. By interpreting the relationship between these putative states and features on the map, we are able to propose a number of hypothetical navigational strategies feeding into these states. The first of these two papers details the novel technical developments associated with this work and the second paper contains a navigational interpretation of the results particularly with respect to visual features of the landscape.     

Spatial cognition and neuro-mimetic navigation: a model of hippocampal place cell activity

 A computational model of hippocampal activity during spatial cognition and navigation tasks is presented. The spatial representation in our model of the rat hippocampus is built on-line during exploration via two processing streams. An allothetic vision-based representation is built by unsupervised Hebbian learning extracting spatio-temporal properties of the environment from visual input. An idiothetic representation is learned based on internal movement-related information provided by path integration. On the level of the hippocampus, allothetic and idiothetic representations are integrated to yield a stable representation of the environment by a population of localized overlapping CA3-CA1 place fields. The hippocampal spatial representation is used as a basis for goal-oriented spatial behavior. We focus on the neural pathway connecting the hippocampus to the nucleus accumbens. Place cells drive a population of locomotor action neurons in the nucleus accumbens. Reward-based learning is applied to map place cell activity into action cell activity. The ensemble action cell activity provides navigational maps to support spatial behavior. We present experimental results obtained with a mobile Khepera robot. Received: 02 July 1999 / Accepted in revised form: 20 March 2000     

Positional entropy during pigeon homing II: navigational interpretation of Bayesian latent state models

In these two companion papers we introduce a new approach to the analysis of bird navigation which brings together several novel mathematical and technical applications. Miniaturized GPS logging devices provide track data of sufficiently high spatial and temporal resolution that considerable variation in flight behaviour can be observed remotely from the form of the track alone. We analyse a fundamental measure of bird flight track complexity, spatio-temporal entropy, and explore its state-like structure using a probabilistic hidden Markov model. The emergence of a robust three-state structure proves that the technique has analytical power, since this structure was not obvious in the tracks alone. We propose the hypothesis that positional entropy is indicative of underlying navigational uncertainty, and that familiar area navigation may break down into three states of navigational confidence. By interpreting the relationship between these putative states and features on the map, we are able to propose a number of hypothetical navigational strategies feeding into these states. The first of these two papers details the novel technical developments associated with this work and the second paper contains a navigational interpretation of the results particularly with respect to visual features of the landscape.     

Long-distance navigation in the wandering desert spider<Emphasis Type="Italic"> Leucorchestris arenicola</Emphasis>: can the slope of the dune surface provide a compass cue?

Males of the nocturnal spider Leucorchestris arenicola (Araneae: Sparassidae) wander long distances over seemingly featureless dune surfaces in the Namib Desert searching for females. The spiders live in burrows to which they return after nearly every such excursion. While the outward path of an excursion may be a meandering search, the return path is often a nearly straight line leading towards the burrow. This navigational behaviour resembles that of path integration known from other arthropods, though on a much larger scale (over tens to hundreds of meters). Theoretically, precise navigation by path integration over long distances requires an external compass in order to adjust for inevitable accumulation of navigational errors. As a first step towards identifying any nocturnal compass cues used by the male spiders, a method for detailed 3-D recordings of the spiders paths was developed. The 3-D reconstructions of the paths revealed details about the processes involved in the spiders nocturnal way of navigation. Analyses of the reconstructed paths suggest that gravity (slope of the dune surface) is an unlikely parameter used in path integration by the L. arenicola spiders.     

Pigeon Navigation: Different Routes Lead to Frankfurt

Background

Tracks of pigeons homing to the Frankfurt loft revealed an odd phenomenon: whereas birds returning from the North approach their loft more or less directly in a broad front, pigeons returning from the South choose, from 25 km from home onward, either of two corridors, a direct one and one with a considerable detour to the West. This implies differences in the navigational process.

Methodology/Principle Findings

Pigeons released at sites at the beginning of the westerly corridor and in this corridor behave just like pigeons returning from farther south, deviating to the west before turning towards their loft. Birds released at sites within the straight corridors, in contrast, take more or less straight routes. The analysis of the short-term correlation dimension, a quantity reflecting the complexity of the system and with it, the number of factors involved in the navigational process, reveals that it is significantly larger in pigeons choosing the westerly corridor than in the birds flying straight - 3.03 vs. 2.85. The difference is small, however, suggesting a different interpretation of the same factors, with some birds apparently preferring particular factors over others.

Conclusions

The specific regional distribution of the factors which pigeons use to determine their home course seems to provide ambiguous information in the area 25 km south of the loft, resulting in the two corridors. Pigeons appear to navigate by deriving their routes directly from the locally available navigational factors which they interpret in an individual way. The fractal nature of the correlation dimensions indicates that the navigation process of pigeons is chaotic-deterministic; published tracks of migratory birds suggest that this may apply to avian navigation in general.     

Modality-independent coding of spatial layout in the human brain

In many nonhuman species, neural computations of navigational information such as position and orientation are not tied to a specific sensory modality [1, 2]. Rather, spatial signals are integrated from multiple input sources, likely leading to abstract representations of space. In contrast, the potential for abstract spatial representations in humans is not known, because most neuroscientific experiments on human navigation have focused exclusively on visual cues. Here, we tested the modality independence hypothesis with two functional magnetic resonance imaging (fMRI) experiments that characterized computations in regions implicated in processing spatial layout [3]. According to the hypothesis, such regions should be recruited for spatial computation of 3D geometric configuration, independent of a specific sensory modality. In support of this view, sighted participants showed strong activation of the parahippocampal place area (PPA) and the retrosplenial cortex (RSC) for visual and haptic exploration of information-matched scenes but not objects. Functional connectivity analyses suggested that these effects were not related to visual recoding, which was further supported by a similar preference for haptic scenes found with blind participants. Taken together, these findings establish the PPA/RSC network as critical in modality-independent spatial computations and provide important evidence for a theory of high-level abstract spatial information processing in the human brain.     

Does Chronic Unpredictable Stress during Adolescence Affect Spatial Cognition in Adulthood?

Spatial abilities allow animals to retain and cognitively manipulate information about their spatial environment and are dependent upon neural structures that mature during adolescence. Exposure to stress in adolescence is thought to disrupt neural maturation, possibly compromising cognitive processes later in life. We examined whether exposure to chronic unpredictable stress in adolescence affects spatial ability in late adulthood. We evaluated spatial learning, reference and working memory, as well as long-term retention of visuospatial cues using a radial arm water maze. We found that stress in adolescence decreased the rate of improvement in spatial learning in adulthood. However, we found no overall performance impairments in adult reference memory, working memory, or retention caused by adolescent-stress. Together, these findings suggest that adolescent-stress may alter the strategy used to solve spatial challenges, resulting in performance that is more consistent but is not refined by incorporating available spatial information. Interestingly, we also found that adolescent-stressed rats showed a shorter latency to begin the water maze task when re-exposed to the maze after an overnight delay compared with control rats. This suggests that adolescent exposure to reoccurring stressors may prepare animals for subsequent reoccurring challenges. Overall, our results show that stress in adolescence does not affect all cognitive processes, but may affect cognition in a context-dependent manner.

Highlights

• -Rats were reared with or without chronic unpredictable stress in adolescence.
• -In adulthood, spatial cognitive abilities were tested in a radial arm water maze.
• -Prior-stressed rats began searching faster in the maze after an overnight delay.
• -Prior stress may facilitate faster action in challenging situations.
• -Prior stress did not affect learning, reference or working memory, or retention.