Guidance of locomotion on foot uses perceived target location rather than optic flow

The role of visual and nonvisual information in the control of locomotion

During locomotion, retinal flow, gaze angle, and vestibular information can contribute to one's perception of self-motion. Their respective roles were investigated during active steering: Retinal flow and gaze angle were biased by altering the visual information during computer-simulated locomotion, and vestibular information was controlled through use of a motorized chair that rotated the participant around his or her vertical axis. Chair rotation was made appropriate for the steering response of the participant or made inappropriate by rotating a proportion of the veridical amount. Large steering errors resulted from selective manipulation of retinal flow and gaze angle, and the pattern of errors provided strong evidence for an additive model of combination. Vestibular information had little or no effect on steering performance, suggesting that vestibular signals are not integrated with visual information for the control of steering at these speeds.

Walking trajectory in neglect patients

A lateral deviation of the walking trajectory is often observed in stroke patients with unilateral spatial neglect. However, existing research appears to be contradictory regarding the direction of this deviation. The aim of the present study was to gain more insight into the walking trajectory of neglect patients. Twelve right hemisphere stroke patients (six neglect, six no neglect), eight left hemisphere stroke patients (none neglect) and 10 healthy control subjects were instructed to walk towards a target while a two-dimensional ultrasonic positioning system recorded their walking trajectory. Patients' recovery of walking ability was assessed and they were tested for the presence of neglect. Neglect patients showed a larger lateral deviation in their walking trajectory compared to stroke patients without neglect or controls. Neglect patients with good walking ability showed a deviation to the contralesional side. Neglect patients with limited walking ability showed a deviation to the ipsilesional side. Within the neglect group we found no relation between the severity of neglect and lateral deviation. Differences in walking ability may account for the contradictory results between studies regarding the lateral deviation in neglect patients' walking trajectory. We suggest that when a neglect patient's walking ability is limited, walking towards a target becomes a dual task: heading control and walking. A limited walking ability will cause a higher task priority of walking compared to heading control. This shift in task priority may be causing the change in walking trajectory deviation.

Modeling driver behavior in a cognitive architecture

OBJECTIVE

This paper explores the development of a rigorous computational model of driver behavior in a cognitive architecture--a computational framework with underlying psychological theories that incorporate basic properties and limitations of the human system.

BACKGROUND

Computational modeling has emerged as a powerful tool for studying the complex task of driving, allowing researchers to simulate driver behavior and explore the parameters and constraints of this behavior.

METHOD

An integrated driver model developed in the ACT-R (Adaptive Control of Thought-Rational) cognitive architecture is described that focuses on the component processes of control, monitoring, and decision making in a multilane highway environment.

RESULTS

This model accounts for the steering profiles, lateral position profiles, and gaze distributions of human drivers during lane keeping, curve negotiation, and lane changing.

CONCLUSION

The model demonstrates how cognitive architectures facilitate understanding of driver behavior in the context of general human abilities and constraints and how the driving domain benefits cognitive architectures by pushing model development toward more complex, realistic tasks.

APPLICATION

The model can also serve as a core computational engine for practical applications that predict and recognize driver behavior and distraction.

Judgments of path, not heading, guide locomotion

To steer a course through the world, people are almost entirely dependent on visual information, of which a key component is optic flow. In many models of locomotion, heading is described as the fundamental control variable; however, it has also been shown that fixating points along or near one's future path could be the basis of an efficient control solution. Here, the authors aim to establish how well observers can pinpoint instantaneous heading and path, by measuring their accuracy when looking at these features while traveling along straight and curved paths. The results showed that observers could identify both heading and path accurately (approximately 3 degrees ) when traveling along straight paths, but on curved paths they were more accurate at identifying a point on their future path (approximately 5 degrees ) than indicating their instantaneous heading (approximately 13 degrees ). Furthermore, whereas participants could track changes in the tightness of their path, they were unable to accurately track the rate of change of heading. In light of these results, the authors suggest it is unlikely that heading is primarily used by the visual system to support active steering.

Optic-flow and egocentric-direction strategies in walking: Central vs peripheral visual field

The impact of a central or peripheral visual field loss on the vision strategy used to guide walking was determined by measuring walking paths of visually impaired participants. An immersive virtual environment was used to dissociate the expected paths of the optic-flow and egocentric-direction strategies by offsetting the walker's point of view from the actual direction of walking. Environments consisted of a goal within a forest, the goal alone, or the forest alone following a brief presentation of the goal. The first two environments allowed an evaluation of the visual information used in a goal-directed task whereas the third environment investigated the information used in a memory-guided task. Participants had either a central (CFL) or peripheral visual field loss (PFL) or were fully sighted (FS). Results showed that, for the goal-directed task, the CFL group was less influenced by optic flow than was an age-matched FS group. Optic flow decreased heading error by only 1.3 degrees (16%) in the CFL group compared to 3.6 degrees (42%) in the FS group. The PFL group showed an optic-flow influence (2.4 degrees or 26%) comparable to an older, age-matched FS group (2.9 degrees or 31%). For the memory-guided task, all but the PFL group had heading errors comparable to those obtained in the goal-alone scene, demonstrating the ability to use an egocentric-direction strategy with a stored representation of either the goal's position or an offset relative to a landmark instead of a visible goal. The paths of the PFL group veered significantly from the predicted paths of both the optic-flow and egocentric-direction strategies. The findings of this study suggest that central vision is important for using optic flow to guide walking, whereas peripheral vision is important for establishing and/or updating an accurate representation of spatial structure for navigation.

Identifying visual-vestibular contributions during target-directed locomotion

The purpose of this experiment was to examine the potential interaction between visual and vestibular inputs as participants walked towards 1 of 3 targets located on a barrier 5m away. Visual and vestibular inputs were perturbed with displacing prisms and galvanic vestibular stimulation (GVS), respectively. For each target there were three vision conditions (no prisms, prisms left, and prisms right), and three GVS conditions (no GVS, anode left, and anode right). Participants were instructed to start with eyes closed, and to open the eyes at heel contact of the first step. GVS and target illumination were triggered by the first heel contact. This ensured that the upcoming visual condition and target were unknown and that both sensory perturbations occurred simultaneously. Lateral displacement was determined every 40 cm. Irrespective of target or direction, GVS or prism perturbation alone resulted in similar lateral deviations. When combined, the GVS and prism perturbations that had similar singular effects led to significantly larger deviations in the direction of the perturbations. The deviations were approximately equal to the sum of the single deviations indicating that the combined effects were additive. Conflicting GVS and prism perturbations led to significantly smaller deviations that were close to zero, indicating that opposite perturbations cancelled each other. These results show that when both visual and vestibular information remain important during task performance, the nervous system integrates the inputs equally.

Dynamic visual–vestibular integration during goal directed human locomotion

Normal visual input plays a very dominant role during locomotion. Functionally, it can assist the central nervous system to overcome a destabilizing effect of abnormal or perturbed vestibular information. However, a recent study has shown a directional effect of transmastoidal galvanic vestibular stimulation (GVS) on gait trajectory when visual information is unreliable. The purpose of this study was to investigate how inputs from the visual and vestibular systems are weighted to optimize locomotor performance under impoverished visual conditions during goal directed locomotion. For unimodal stimulation, the visual input was manipulated using displacing prisms that caused 14 degrees horizontal displacement of perceived target location to the right or left. In addition, GVS (0.8 mAmp) was applied to manipulate vestibular system information during bimodal stimulation conditions. Two bimodal stimulation conditions were defined by the polarity of the galvanic current (anode on congruent and incongruent sides of prismatic deviation). The center of mass (CoM) displacement, head and trunk yaw angles and trunk roll angles were computed to analyze the global output as well as segmental coordination, as the participants walked towards the target. Although the performance was primarily guided by visual information, both congruent and incongruent GVS significantly altered CoM displacement. Similarly, the basic pattern of segmental responses during steering was maintained; however, the magnitude of the responses was altered. Spatio-temporal analysis demonstrated that during bimodal stimulation, the effect of GVS on global output tapered off as the participants approached the target. Results suggest a dynamic visual-vestibular interaction in which the gain of the vestibular input is initially upregulated in the presence of insufficient or impoverished visual information. However, there is a gradual habituation and the visual information, although insufficient, primarily dominates during goal directed locomotion. The experimental trajectories resembled mathematically simulated trajectories with a decaying GVS gain as opposed to a constant gain, further supporting the dynamic nature of sensory integration.

Assessing vestibular contributions during changes in gait trajectory

Displacing prisms and galvanic stimulation were used to examine visual-vestibular interactions during target-directed gait. Participants walked towards a wall 6 m away. After taking four steps, a target on the wall, located directly in front or to the right of the participant, was illuminated. Participants continued walking towards the target. Galvanic vestibular stimulation was triggered at either gait initiation, a step before the potential turn, or at target illumination. Although the visual and vestibular perturbations significantly altered gait trajectory, the greatest interaction occurred when galvanic stimulation was triggered one step before the target appeared. This implies an increase in the weighting of vestibular inputs just before turning to prepare for the potential change in direction.

Effect of ageing on the ability to adapt to a visual distortion during walking

Degradation of major sensory systems such as proprioception, the vestibular system and vision may be a factor that contributes to the decline in walking stability in older people. In the present study this was examined by introducing a visual distortion by means of prism glasses shifting subject's view 10 degrees to the right while subjects walked towards a target (exposure condition). Shifting the view while walking towards a target will cause subjects to alter their heading in such a way that their walking trajectory describes a curvilinear path. It was expected that older people, when compared to young people, would have greater difficulty adjusting their heading and would show a greater decrease in heading stability, quantified by means of the standard deviation of the lateral position (SDLP). This was indeed the case. When performance in a pre- and post-exposure condition, in which subjects walked without prism glasses, were compared to each other, older people (O group) showed a greater decrease in heading stability than young people (Y group) and middle aged people (M group). Furthermore, it appeared that during the exposure condition adaptation effects were present in the Y and M group, which were absent in the O group. It is discussed that this adaptation is a form of realignment of the proprioceptive and visual system. The absence of realignment in the O group is argued to be caused by degradation of the proprioceptive system, which results in a lowering of the proprioceptive bias of vision.

A robust solution for dealing with environmental changes in intercepting moving balls

The authors tested whether a simple model based on the cancellation of the rate of change in bearing angle could account for the behavioral adaptations produced when individuals intercept moving balls while walking. In Experiment 1, the place of arrival of the ball and the angle of approach were varied. In accord with the model, velocity regulations were earlier and more pronounced the larger the angle of approach. In Experiment 2, ball speed unexpectedly changed during a trial, once again highlighting participants' functional velocity adaptations. A direct test of the model on the basis of each individual trial (N = 256) revealed that, on average, 70% of the total variance could be explained. Together, those results confirm the usefulness of such a robust strategy in the control of interceptive tasks.

The perceptual support of goal-directed displacement is context-dependent

This study investigates the perceptual-motor organisation underlying the control of goal-directed displacement. We used a virtual reality set-up to study the locomotor interception of a moving ball. Subjects had to intercept moving balls by modifying displacement velocity if necessary, while the ball's place of arrival and the environment were manipulated. The results showed that subjects simultaneously managed multiple sources of information and placed priority on the most salient variables, depending on the task and environmental constraints.

Using visual direction in three-dimensional motion perception

The eyes receive slightly different views of the world, and the differences between their images (binocular disparity) are used to see depth. Several authors have suggested how the brain could exploit this information for three-dimensional (3D) motion perception, but here we consider a simpler strategy. Visual direction is the angle between the direction of an object and the direction that an observer faces. Here we describe human behavioral experiments in which observers use visual direction, rather than binocular information, to estimate an object's 3D motion even though this causes them to make systematic errors. This suggests that recent models of binocular 3D motion perception may not reflect the strategies that human observers actually use.

Visual guidance of intercepting a moving target on foot

How do people walk to a moving target, and what visual information do they use to do so? Under a pursuit strategy, one would head toward the target's current position, whereas under an interception strategy, one would lead the target, ideally by maintaining a constant target-heading angle (or constant bearing angle). Either strategy may be guided by the egocentric direction of the target, local optic flow from the target, or global optic flow from the background. In four experiments, participants walked through a virtual environment to reach a target moving at a constant velocity. Regardless of the initial conditions, they walked ahead of the target for most of a trial at a fairly constant speed, consistent with an interception strategy (experiment 1). This behavior can be explained by trying to maintain a constant target-heading angle while trying to walk a straight path, with transient steering dynamics. In contrast to previous results for stationary targets, manipulation of the local optic flow from the target (experiment 2) and the global optic flow of the background (experiments 3 and 4) failed to influence interception behavior. Relative motion between the target and the background did affect the path slightly, presumably owing to its effect on perceived target motion. We conclude that humans use an interception strategy based on the egocentric direction of a moving target.

Visual illusion in virtual world alters women?s target-directed walking

In this study we investigated whether a visual illusion located in far space alters a person's open-loop, target-directed walking path in the same manner as it alters the perception of the target's position. Through the use of immersive VR the subject was able to walk physically to the location of a target embedded in a scene that was manipulated to create a visual illusion, known as the induced Roelofs effect. This illusion has been shown to alter the perception of a target's position. The experiment consisted of two tasks: a perception task and an action task. In the perception task, subjects viewed the scene for 1 s, it disappeared, and they were to report the target's location verbally. The results showed that the visual illusion altered the reported positions in all but one subject. In the action task, subjects viewed the scene for 1 s, it disappeared, and the subjects were asked to walk to the target's location. The results showed that the illusion significantly altered the walking paths of most of the women and less than half of the men. A significant gender effect was observed; women's walking paths deviated, on average, by 7.1 degrees and men's, by only 2.0 degrees . These results indicate that action tasks in far space are susceptible to the effects of visual illusions, unlike the action tasks in near space that reportedly have been resistant to them. Furthermore, the significant gender effect suggests that men and women either have different strategies and/or employ different mechanisms when executing a visually guided task in far space.

Prism adaptation during walking generalizes to reaching and requires the cerebellum

Adaptation of arm movements to laterally displacing prism glasses is usually highly specific to body part and movement type and is known to require the cerebellum. Here, we show that prism adaptation of walking trajectory generalizes to reaching (a different behavior involving a different body part) and that this adaptation requires the cerebellum. In experiment 1, healthy control subjects adapted to prisms during either reaching or walking and were tested for generalization to the other movement type. We recorded lateral deviations in finger endpoint position and walking direction to measure negative aftereffects and generalization. Results showed that generalization of prism adaptation is asymmetric: walking generalizes extensively to reaching, but reaching does not generalize to walking. In experiment 2, we compared the performance of cerebellar subjects versus healthy controls during the prism walking adaptation. We measured rates of adaptation, aftereffects, and generalization. Cerebellar subjects had reduced adaptation magnitudes, slowed adaptation rates, decreased negative aftereffects, and poor generalization. Based on these experiments, we propose that prism adaptation during whole body movements through space invokes a more general system for visuomotor remapping, involving recalibration of higher-order, effector-independent brain regions. In contrast, prism adaptation during isolated movements of the limbs is probably recalibrated by effector-specific mechanisms. The cerebellum is an essential component in the network for both types of prism adaptation.

The perceptual control of goal-directed locomotion: a common control architecture for interception and navigation?

Intercepting a moving object while locomoting is a highly complex and demanding ability. Notwithstanding the identification of several informational candidates, the role of perceptual variables in the control process underlying such skills remains an open question. In this study we used a virtual reality set-up for studying locomotor interception of a moving ball. The subject had to walk along a straight path and could freely modify forward velocity, if necessary, in order to intercept-with the head-a ball moving along a straight path that led it to cross the agent's displacement axis. In a series of experiments we manipulated a local (ball size) and a global (focus of expansion) component of the visual flow but also the egocentric orientation of the ball. The experimental observations are well captured by a dynamic model linking the locomotor acceleration to properties of both global flow and egocentric direction. More precisely the changes in locomotor velocity depend on a linear combination of the change in bearing angle and the change in egocentric orientation, allowing the emergence of adaptive behavior under a variety of circumstances. We conclude that the mechanisms underlying the control of different goal-directed locomotion tasks (i.e. steering and interceptive tasks) could share a common architecture.

Stability in Young Infants' Discrimination of Optic Flow

Although considerable progress has been made in understanding how adults perceive their direction of self-motion, or heading, from optic flow, little is known about how these perceptual processes develop in infants. In 3 experiments, the authors explored how well 3- to 6-month-old infants could discriminate between optic flow patterns that simulated changes in heading direction. The results suggest that (a) prior to the onset of locomotion, the majority of infants discriminate between optic flow displays that simulate only large (> 22 deg.) changes in heading, (b) there is minimal development in sensitivity between 3 and 6 months, and (c) optic flow alone is sufficient for infants to discriminate heading. These data suggest that spatial abilities associated with the dorsal visual stream undergo prolonged postnatal development and may depend on locomotor experience.

Relative contributions of visual and vestibular information on the trajectory of human gait

Seven healthy individuals were recruited to examine the interaction between visual and vestibular information on locomotor trajectory during walking. Subjects wore goggles that either contained a clear lens or a prism that displaced the visual scene either 20 degrees to the left or right. A 5-s bipolar, binaural galvanic stimulus (GVS) was also applied at three times the subject's individual threshold (ranged between 1.2 to 1.5 mA). Subjects stood with their eyes closed and walked forward at a casual pace. At first heel contact, subjects opened their eyes and triggered the galvanic stimulus by foot switches positioned underneath a board. Reflective markers were placed bilaterally on the shoulders as the walking trajectory was captured using a camera mounted on the ceiling above the testing area. Twelve conditions were randomly assigned that combined four visual conditions (eyes closed, eyes open, left prism, right prism) and three GVS conditions (no GVS, GVS anode left, GVS anode right). As subjects walked forward, there was a tendency to deviate in the direction of the prisms. During GVS trials, subjects deviated towards the anode while walking, with the greatest deviations occurring with the eyes closed. However, when GVS was presented with the prisms, subjects always deviated to the side of the prisms, regardless of the position of the anode. Furthermore, the visual-vestibular conditions produced a larger lateral deviation than those observed in the prisms-only trials. This suggests that the nervous system examines the sensory inputs and takes into account the most reliable and relevant sensory input.

Representation of heading direction in far and near head space

Manipulation of objects around the head requires an accurate and stable internal representation of their locations in space, also during movements such as that of the eye or head. For far space, the representation of visual stimuli for goal-directed arm movements relies on retinal updating, if eye movements are involved. Recent neurophysiological studies led us to infer that a transformation of visual space from retinocentric to a head-centric representation may be involved for visual objects in close proximity to the head. The first aim of this study was to investigate if there is indeed such a representation for remembered visual targets of goal-directed arm movements. Participants had to point toward an initially foveated central target after an intervening saccade. Participants made errors that reflect a bias in the visuomotor transformation that depends on eye displacement rather than any head-centred variable. The second issue addressed was if pointing toward the centre of a wide-field expanding motion pattern involves a retinal updating mechanism or a transformation to a head-centric map and if that process is distance dependent. The same pattern of pointing errors in relation to gaze displacement was found independent of depth. We conclude that for goal-directed arm movements, representation of the remembered visual targets is updated in a retinal frame, a mechanism that is actively used regardless of target distance, stimulus characteristics or the requirements of the task.

The role of vision in maintaining heading direction: effects of changing gaze and optic flow on human gait

How is heading direction maintained in human gait? This question was investigated with respect to the role of optic flow and in the context of different movement strategies. While walking on a treadmill the deviation from the ideal straight path was measured in terms of lateral sway induced by a lateral gaze shift (by looking at a moving visual target). The role of the focus of expansion (FOE) within a radially expanding optic flow pattern was investigated by varying its relative velocity of expansion from 0- to 4-fold (the equivalent of walking speed), thus increasing the perceptibility of FOE. If FOE was a relevant cue for maintaining heading direction, a reduction of lateral sway amplitude was expected with increasing flow velocity. The presence of a radially expanding flow pattern did not reduce lateral sway. Lateral sway was least when the visual background remained stable without any flow pattern. Increasing the velocity of the flow pattern resulted in an increase in lateral sway. If the relative velocity of the flow pattern was raised beyond that corresponding to walking speed, lateral sway amplitude approached the maximal values observed in the dark. In all experiments, sway amplitude increased linearly with the increasing excursion of the visual target. Different strategies to perform the gaze shift (eye or head turns) only resulted in minor differences in lateral sway amplitude. The results show that gaze shifts during locomotion induce lateral sway, which depends upon the presence, and characteristics, of background optic flow. Under the present conditions, the FOE within the flow field seems not to be a dominant cue to control heading. However, the systematic increase in lateral sway induced by high flow velocities indicates that motion parallax has an effect on heading during locomotion.

Controlling steering and judging heading: retinal flow, visual direction, and extraretinal information

The contribution of retinal flow (RF), extraretinal (ER), and egocentric visual direction (VD) information in locomotor control was explored. First, the recovery of heading from RF was examined when ER information was manipulated; results confirmed that ER signals affect heading judgments. Then the task was translated to steering curved paths, and the availability and veracity of VD were manipulated with either degraded or systematically biased RF. Large steering errors resulted from selective manipulation of RF and VD, providing strong evidence for the combination of RF, ER, and VD. The relative weighting applied to RF and VD was estimated. A point-attractor model is proposed that combines redundant sources of information for robust locomotor control with flexible trajectory planning through active gaze.

Behavioral dynamics of steering, obstacle avoidance, and route selection

The authors investigated the dynamics of steering and obstacle avoidance, with the aim of predicting routes through complex scenes. Participants walked in a virtual environment toward a goal (Experiment 1) and around an obstacle (Experiment 2) whose initial angle and distance varied. Goals and obstacles behave as attractors and repellers of heading, respectively, whose strengths depend on distance. The observed behavior was modeled as a dynamical system in which angular acceleration is a function of goal and obstacle angle and distance. By linearly combining terms for goals and obstacles, one could predict whether participants adopt a route to the left or right of an obstacle to reach a go (Experiment 3). Route selection may emerge from on-line steering dynamics, making explicit path planning unnecessary.

Spatial invariance in anticipatory orienting behaviour during human navigation

We have recently reported that the head systematically deviates toward the future direction of the trajectory about 500 ms before attaining a turning point of 90 degrees corner trajectories both in light and in darkness. Here, we investigated how this anticipatory strategy is modified whilst varying visual conditions (Experiment 1) and walking speed (Experiment 2). Exp. 1 showed similar anticipatory behaviour when walking with or without vision. Exp. 2 (that varied walking speed; eyes open) showed that the head started to deviate at a constant distance rather than at a constant time to the corner. The results appear inconsistent with optic flow theories of the guidance of walking direction and might highlight the role of landmarks and/or egocentric direction in anticipatory orienting behaviour.

Evaluating perception in driving simulation experiments

The use of driving simulation for vehicle design and driver perception studies is expanding rapidly. This is largely because simulation saves engineering time and costs, and can be used for studies of road and traffic safety. How applicable driving simulation is to the real world is unclear however, because analyses of perceptual criteria carried out in driving simulation experiments are controversial. On the one hand, recent data suggest that, in driving simulators with a large field of view, longitudinal speed can be estimated correctly from visual information. On the other hand, recent psychophysical studies have revealed an unexpectedly important contribution of vestibular cues in distance perception and steering, prompting a re-evaluation of the role of visuo-vestibular interaction in driving simulation studies.

Driving as night falls: the contribution of retinal flow and visual direction to the control of steering

We have the ability to locomote at high speeds, and we usually negotiate bends safely, even when visual information is degraded, for example, when driving at night. There are three sources of visual information that could support successful steering. An observer fixating a steering target that is eccentric to the current heading must rotate their gaze. The gaze rotation may be detected by using head and eye movement signals (extra-retinal direction: ERD) or their retinal counterpart, visual direction (VD). The gaze rotation also transforms the global retinal flow (RF) field, which may enable direct steering judgments. In this study, we manipulate VD and RF to determine their contribution toward steering a curved path in the presence of ERD. The results suggest a model that uses a weighted combination of all three information sources, but results also suggest that this weighting may change in reduced visibility, such as in low-light conditions.

Retinal flow is sufficient for steering during observer rotation

How do people control locomotion while their eyes are simultaneously rotating? A previous study found that during simulated rotation, they can perceive a straight path of self-motion from the retinal flow pattern, despite conflicting extraretinal information, on the basis of dense motion parallax and reference objects. Here we report that the same information is sufficient for active control ofjoystick steering. Participants steered toward a target in displays that simulated a pursuit eye movement. Steering was highly inaccurate with a textured ground plane (motion parallax alone), but quite accurate when an array of posts was added (motion parallax plus reference objects). This result is consistent with the theory that instantaneous heading is determined from motion parallax, and the path of self-motion is determined by updating heading relative to environmental objects. Retinal flow is thus sufficient for both perceiving self-motion and controlling self-motion with a joystick; extraretinal and positional information can also contribute, but are not necessary.

Optic flow and scene structure do not always contribute to the control of human walking

Using displacing prisms to dissociate the influence of optic flow and egocentric direction, previous research (Current Biology 8 (1998) 1191) showed that people primarily use egocentric direction to control their locomotion on foot, rather than optic flow. When wearing displacing prisms, participants followed the curved path predicted by the use of simple egocentric direction, rather than a straight path, as predicted by the use of optic flow. It has previously been suggested that, in rich visual environments, other visual information including optic flow and static scene structure may influence locomotion in addition to direction. Here we report a study where neither scene structure nor optic flow have any influence on the control of walking. Participants wearing displacing prisms walked along a well-lit corridor (containing rich scene structure and flow) and along the same corridor in darkness (no scene structure or flow). Heading errors were not significantly different between the dark and light conditions. Thus, even under conditions of rich scene structure and high flow when walking in a well-lit corridor, participants follow the same curved paths as when these cues are not available. These results demonstrate that there are conditions under which visual direction is the only useful source of visual information for the control of locomotion.

A visual equalization strategy for locomotor control: of honeybees, robots, and humans

Honeybees fly down the center of a corridor by equating the speed of optic flow in the lateral field of the two eyes. This flow-equalization strategy has been successfully implemented in mobile robots to guide behavior in cluttered environments. We investigated whether humans use a similar strategy to steer down a corridor and determined the relative contributions of equating the speed of flow (.27), the splay angles of base lines (.62), and the visual angles of texture on the left and right walls (.03) to steering behavior. A generalized equalization strategy based on the weighted linear combination of these variables closely models human behavior, providing robust visual control.

Walking, looking to the side, and taking curved paths

In two experiments, viewers judged heading from displays simulating locomotion through tree-filled environments, with gaze off to the side. They marked their heading with a mouse-controlled probe at three different depths. When simulated eye or head rotation generally exceeded 0.5 deg/sec, there was reliable curvature in perceived paths toward the fixated object. This curvature, however, was slight even with rotation rates as great as 2.6 deg/sec. Best-fit paths to circular arcs had radii of 1.8 km or greater. In a third experiment, pedestrians walked with matched gaze to the side. Measured curvature in the direction of gaze corresponded to a circular radius of about 1.3 km. Thus, at minimum, vision scientists need not worry about perceived path curvature in this situation; real path curvatures are about the same. However, at present, we can make no claim that the same mechanisms necessarily govern the two results.

Heading and path percepts from visual flow and eye pursuit signals

The percept of self-motion through the environment is supported by visual motion signals and eye movement signals. The interaction between these signals by decoupling of the eye movement and the pattern of retinal motion during brief simulated ego-movement on straight or circular trajectories was studied. A new response method enabled subjects to report perceived destination and perceived curvature of their future path simultaneously. Various combinations of simulated gaze rotation in the retinal flow and eye pursuit were investigated. Simulated gaze rotation ranged from consistent and larger than, to opponent and larger than eye pursuit. It was found that the perceived destination shifts non-linearly with the mismatch between simulated gaze rotation and eye pursuit. The non-linearity is also revealed in the perceived tangent heading direction and perceived path curvature, although to different extent in different subjects. For the same retinal flow, eye pursuit that is consistent with the simulated gaze rotation reduces heading error and the perceived path straightens out. In contrast, perceived path and/or heading do not become more curved or more biased in the direction opposite to pursuit when the eye -in-head rotation is opposite to the simulated gaze rotation. These observations point to modulation of the effect of the extra-retinal pursuit signal by the visual evidence for eye rotation. In a second experiment, one presented to a stationary eye the sum of a component of simulated gaze rotation and radial flow. It was found that the bi-circular flow component, that characterizes the change in pattern of flow directions by the gaze rotation, induces a shift of perceived heading without appreciable perceived path curvature. Conversely, the complementary component of simulated gaze rotation (bi-radial flow) evokes a percept of motion on a curved path with a small tangent heading error. It was suggested that bi-circular and bi-radial flow components contribute primarily to percepts of heading and path curvature, respectively.

Is optic flow used to guide walking while wearing a displacing prism?

Rushton et al (1998 Current Biology 8 1191 - 1194) recently showed that walkers wearing displacing prisms follow curved trajectories determined by the perceived direction of their target. This suggests that optic flow is not important in guidance, since flow cues are unaffected by the prism and should allow a straight, direct trajectory. We replicated Rushton et al's result but also tried to rule out an important artifact associated with the prism. Prisms restrict the field of view and, particularly, access to the foreground optic flow that is likely to be important in providing guidance cues. We found that performance did not improve when walkers directed their gaze to include the foreground flow, suggesting that Rushton et al's results were not due to this artifact. On the other hand, performance did reliably improve when subjects reduced their viewing height by crawling towards the target. This improvement may be due to coarsening of the visual texture or to increased salience of alignment and motion-parallax cues. Whatever its cause, the improvement demonstrates that guidance is not determined only by perceived target direction and that, under some conditions, flow may be important.

Optic flow is used to control human walking

How is human locomotion visually controlled? Fifty years ago, it was proposed that we steer to a goal using optic flow, the pattern of motion at the eye that specifies the direction of locomotion. However, we might also simply walk in the perceived direction of a goal. These two hypotheses normally predict the same behavior, but we tested them in an immersive virtual environment by displacing the optic flow from the direction of walking, violating the laws of optics. We found that people walked in the visual direction of a lone target, but increasingly relied on optic flow as it was added to the display. The visual control law for steering toward a goal is a linear combination of these two variables weighted by the magnitude of flow, thereby allowing humans to have robust locomotor control under varying environmental conditions.

Heading perception and the allocation of attention

A central theme in previous studies of heading judgements has been whether the retinal flow field can be decomposed to recover the translation component of locomotion when flow also contains the effects of gaze rotation. We explored not just the effect of moving gaze, but also moving attention away from the locomotor path by presenting the case of fixating a road sign and completing different attentional tasks during locomotion. Heading errors increased significantly with attentional load, in the absence of extra-retinal gaze information. When we introduced extra-retinal gaze information with the same tasks this resulted in a significant improvement in heading judgements. These results lead us to question whether the decomposition argument translates to real-world judgements of locomotor heading. If observers need to closely attend to roadside information it seems that decomposition is ineffective, whereas if they have the latitude to alternate gaze it is unnecessary.

Field expansion for homonymous hemianopia by optically induced peripheral exotropia

PURPOSE

To describe a novel method for prism correction of hemianopia that provides field-of-view expansion in a convenient and functional format and to evaluate initial clinical application.

METHOD

To expand the upper quadrant of the field, a high power prism segment (30-40delta) is placed base-out across the upper part of the spectacle lens, on the side of the loss, at about the level of the limbus. A similar prism segment at the lower part of the lens is used to treat the lower field. The peripheral location of the prisms causes peripheral exotropia. As a result a scene segment as high as the vertical span of the prism is shifted laterally by 15 to 20 degrees relative to the view of the other eye. At the edge of the hemianopic field loss, objects that would fall in the scotoma of one eye are seen through the prism in the other eye, providing a simultaneous awareness of details within the otherwise absent field-of-view. An approach for fitting the system to patients with abnormal binocular vision (strabismus and amblyopia, with or without diplopia) is discussed as well. The effect of the prisms was evaluated in a noncomparative case series (12 patients).

RESULTS

The field expansion is provided at any position of lateral gaze, including gaze away from the side of the scotoma. The effect of this technique on field expansion was demonstrated using standard binocular perimetry. Most patients reported substantial improvement in function and in obstacle avoidance.

CONCLUSION

A novel method for the optical treatment of hemianopia was developed and tested. It was found to be effective in expanding the field and helping patients' mobility.

Steering, optic flow, and the respective importance of depth and retinal motion distribution

Movement through an environment produces an optical spatiotemporal pattern, known as a flow field. When visually guiding movement using a flow field, do humans make use of information about the distance of constituent elements? Employing a novel active steering task, we examined the use of depth (height-in-scene and disparity) and the role of the retinal motion distribution in the perceptual control of heading from flow. We found that retinal motion distribution, rather than depth order, has the primary role in determining the accuracy of steering.