Cortical Dynamics of Navigation and Steering in Natural Scenes: Motion-Based Object Segmentation, Heading, and Obstacle Avoidance


Show simple item record Browning, Andrew N. en_US Grossberg, Stephen en_US Mingolla, Ennio en_US 2011-11-14T18:50:48Z 2011-11-14T18:50:48Z 2008-12 en_US
dc.description.abstract Visually guided navigation through a cluttered natural scene is a challenging problem that animals and humans accomplish with ease. The ViSTARS neural model proposes how primates use motion information to segment objects and determine heading for purposes of goal approach and obstacle avoidance in response to video inputs from real and virtual environments. The model produces trajectories similar to those of human navigators. It does so by predicting how computationally complementary processes in cortical areas MT-/MSTv and MT+/MSTd compute object motion for tracking and self-motion for navigation, respectively. The model retina responds to transients in the input stream. Model V1 generates a local speed and direction estimate. This local motion estimate is ambiguous due to the neural aperture problem. Model MT+ interacts with MSTd via an attentive feedback loop to compute accurate heading estimates in MSTd that quantitatively simulate properties of human heading estimation data. Model MT interacts with MSTv via an attentive feedback loop to compute accurate estimates of speed, direction and position of moving objects. This object information is combined with heading information to produce steering decisions wherein goals behave like attractors and obstacles behave like repellers. These steering decisions lead to navigational trajectories that closely match human performance. en_US
dc.description.sponsorship National Science Foundation (SBE-0354378, BCS-0235398); Office of Naval Research (N00014-01-1-0624); National Geospatial Intelligence Agency (NMA201-01-1-2016) en_US
dc.language.iso en_US en_US
dc.publisher Boston University Center for Adaptive Systems and Department of Cognitive and Neural Systems en_US
dc.relation.ispartofseries BU CAS/CNS Technical Reports;CAS/CNS-TR-2008-007 en_US
dc.rights Copyright 2008 Boston University. Permission to copy without fee all or part of this material is granted provided that: 1. The copies are not made or distributed for direct commercial advantage; 2. the report title, author, document number, and release date appear, and notice is given that copying is by permission of BOSTON UNIVERSITY TRUSTEES. To copy otherwise, or to republish, requires a fee and / or special permission. en_US
dc.subject Optic flow en_US
dc.subject Navigation en_US
dc.subject MT en_US
dc.subject MST en_US
dc.subject Motion segmentation en_US
dc.subject Object tracking en_US
dc.title Cortical Dynamics of Navigation and Steering in Natural Scenes: Motion-Based Object Segmentation, Heading, and Obstacle Avoidance en_US
dc.type Technical Report en_US
dc.rights.holder Boston University Trustees en_US

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