Navigating in a three-dimensional world

Action Selection in Everyday Activities: The Opportunistic Planning Model

While action selection strategies in well-defined domains have received considerable attention, little is yet known about how people choose what to do next in ill-defined tasks. In this contribution, we shed light on this issue by considering everyday tasks, which in many cases have a multitude of possible solutions (e.g., it does not matter in which order the items are brought to the table when setting a table) and are thus categorized as ill-defined problems. Even if there are no hard constraints on the ordering of subtasks in everyday activities, our research shows that people exhibit specific preferences. We propose that these preferences arise from bounded rationality, that is, people only have limited knowledge and processing power available, which results in a preference to minimize the overall physical and cognitive effort. In the context of everyday activities, this can be achieved by (a) taking properties of the spatial environment into account to use them to one's advantage, and (b) employing a stepwise-optimal action selection strategy. We present the Opportunistic Planning Model as an explanatory cognitive model, which instantiates these assumptions, and show that the model is able to generalize to new everyday tasks, outperforming machine learning models such as neural networks during generalization.

The role of environmental contextual cues in sequence learning: evidence from a virtual maze context

Studies on sequence learning usually focus on single, isolated stimuli that are presented sequentially. For example, in the serial reaction time (RT) task, stimuli are either presented in a predictable sequence or in a random sequence, and better performance with the predictable sequence is taken as evidence for sequence-specific learning. Yet, little is known about the role of environmental context cues in sequence learning. If the target stimuli are embedded in a meaningful context, would this facilitate learning by providing helpful contextual associations or would it hinder learning by adding distracting stimuli? This question was examined in two studies. A pilot study compared sequence learning in a virtual maze with a horizontal vs. vertical maze context, in which arrow stimuli guide spatial lever movement responses that resulted in a corresponding virtual transport on the screen. The results showed only overall somewhat better performance with the vertical maze compared to the horizontal maze, but general practice effects and sequence-specific learning effects were the same for both contexts. The main study compared sequence learning with a maze context to sequence learning of arrows without a maze context. The results showed significantly better learning with maze context than without context. These data suggest that the maze context facilitated sequence learning by inducing a meaningful spatial representation ("mental map") similar to that formed in wayfinding.

The role of strategic visibility in shaping wayfinding behavior in multilevel buildings

In this paper, we explore the mutual effect of prior background expectations and visibility afforded by the 3D configuration of the physical environment on wayfinding efficiency and strategy in multilevel buildings. We perform new analyses on data from 149 participants who performed six unaided and directed wayfinding tasks in virtual buildings with varying degrees of visibility. Our findings reveal that the interaction between visibility and prior background expectations significantly affects wayfinding efficiency and strategy during between-floor wayfinding tasks. We termed this interaction effect strategic visibility, which emphasizes the importance of the strategic allocation of visibility towards actionable building elements in promoting efficient wayfinding and shaping wayfinding strategy. Our study highlights the significance of strategic visibility in promoting inclusive and accessible built environments for neurodiversity. Finally, we provide an open-source dataset that can be used to develop and test new wayfinding theories and models to advance research in the emerging field of human-building interaction.

Contextual memory engrams, and the neuromodulatory influence of the locus coeruleus

Here, we review the basis of contextual memory at a conceptual and cellular level. We begin with an overview of the philosophical foundations of traversing space, followed by theories covering the material bases of contextual representations in the hippocampus (engrams), exploring functional characteristics of the cells and subfields within. Next, we explore various methodological approaches for investigating contextual memory engrams, emphasizing plasticity mechanisms. This leads us to discuss the role of neuromodulatory inputs in governing these dynamic changes. We then outline a recent hypothesis involving noradrenergic and dopaminergic projections from the locus coeruleus (LC) to different subregions of the hippocampus, in sculpting contextual representations, giving a brief description of the neuroanatomical and physiological properties of the LC. Finally, we examine how activity in the LC influences contextual memory processes through synaptic plasticity mechanisms to alter hippocampal engrams. Overall, we find that phasic activation of the LC plays an important role in promoting new learning and altering mnemonic processes at the behavioral and cellular level through the neuromodulatory influence of NE/DA in the hippocampus. These findings may provide insight into mechanisms of hippocampal remapping and memory updating, memory processes that are potentially dysregulated in certain psychiatric and neurodegenerative disorders.

Dissociating two aspects of human 3D spatial perception by studying fighter pilots

Human perception of 3D space has been investigated extensively, but there are conflicting reports regarding its distortions. A possible solution to these discrepancies is that 3D perception is in fact comprised of two different processes-perception of traveled space, and perception of surrounding space. Here we tested these two aspects on the same subjects, for the first time. To differentiate these two aspects and investigate whether they emerge from different processes, we asked whether these two aspects are affected differently by the individual's experience of 3D locomotion. Using an immersive high-grade flight-simulator with realistic virtual-reality, we compared these two aspects of 3D perception in fighter pilots-individuals highly experienced in 3D locomotion-and in control subjects. We found that the two aspects of 3D perception were affected differently by 3D locomotion experience: the perception of 3D traveled space was plastic and experience-dependent, differing dramatically between pilots and controls, while the perception of surrounding space was rigid and unaffected by experience. This dissociation suggests that these two aspects of 3D spatial perception emerge from two distinct processes.

A small step for rats alters spatial behavior: rats on a bi-level arena explore each level separately

We tested rats on a 'bi-level open-field' whose two halves were separated vertically by an 8-cm step that the rats could easily ascend/descend. We sought to determine what might be the factors that shape traveling in three-dimensional environments; what makes an environment perceived as multileveled; and how are multileveled environments explored compared to two-dimensional environments? We found that rats on the bi-level open-field traveled a greater distance on the lower level compared to the upper one. They also spent a long time at the foot of the step before ascending to the upper level. They established a home-base on one level and a local base on the other one, and explored each level separately. We could not find a particular factor that accounted for the preference for the lower level. We suggest that the momentary egocentric sensation of moving vertically, together with an overall area large enough for exploration, result in perceiving an environment as multilevel. Exploration of such environments is fragmented, and each level is explored relatively independently, as has also been shown in other studies. Regarding the unanswered question of earlier studies concerning what integrates fragmented representations, this is the first study that suggests that in rats, and perhaps also in other rodent species, such integration is achieved by means of home-base behavior, resulting in the establishment of a single comprehensive representation of the multilevel environment.

New Approaches to 3D Vision

New approaches to 3D vision are enabling new advances in artificial intelligence and autonomous vehicles, a better understanding of how animals navigate the 3D world, and new insights into human perception in virtual and augmented reality. Whilst traditional approaches to 3D vision in computer vision (SLAM: simultaneous localization and mapping), animal navigation (cognitive maps), and human vision (optimal cue integration) start from the assumption that the aim of 3D vision is to provide an accurate 3D model of the world, the new approaches to 3D vision explored in this issue challenge this assumption. Instead, they investigate the possibility that computer vision, animal navigation, and human vision can rely on partial or distorted models or no model at all. This issue also highlights the implications for artificial intelligence, autonomous vehicles, human perception in virtual and augmented reality, and the treatment of visual disorders, all of which are explored by individual articles. This article is part of a discussion meeting issue 'New approaches to 3D vision'.

Can rats and ants exchange information between the horizontal and vertical domains?

Since traveling in nature involves encountering various vertical structures, integration of horizontal and vertical spatial information is required. One form of such integration is to use information acquired in one plane for spatial navigation in another plane. Here we tested whether rats and ants that learned a reward location in a horizontal maze could utilize this information when the maze was rotated to a vertical orientation and vice versa. Rats that were trained in a horizontal Y-maze required more time to reach the reward when the maze was vertically rotated, but they were more accurate in choosing the correct arm. In contrast, rats tested in a horizontal maze after being trained in a vertical maze were less accurate but reached the reward faster. Changes after maze rotation were moderate and non-significant in ants, perhaps since the number of ants arriving at the reward increased over trials, diminishing the effect of maze rotation in ants compared to rats. According to the notion that horizontal spatial information is encoded in more detail than vertical information, the slow performance of rats in the vertical domain could be due to a more physically demanding task whereas their accuracy was due to a preceding detailed horizontal encoding. In contrast, rats in the vertical maze could gather less detailed information and therefore were less accurate in subsequent horizontal trials, where the lower energy cost enabled them to swiftly correct wrong choices. Altogether, the present results provide an indication for transferring spatial information between horizontal and vertical dimensions.

Do blind people hear better?

For centuries, anecdotal evidence such as the perfect pitch of the blind piano tuner or blind musician has supported the notion that individuals who have lost their sight early in life have superior hearing abilities compared with sighted people. Recently, auditory psychophysical and functional imaging studies have identified that specific auditory enhancements in the early blind can be linked to activation in extrastriate visual cortex, suggesting crossmodal plasticity. Furthermore, the nature of the sensory reorganization in occipital cortex supports the concept of a task-based functional cartography for the cerebral cortex rather than a sensory-based organization. In total, studies of early-blind individuals provide valuable insights into mechanisms of cortical plasticity and principles of cerebral organization.

Rodents Prefer Going Downhill All the Way (Gravitaxis) Instead of Taking an Uphill Task

We directly tested whether, when given the choice to ascend or descend, rodents would favor traveling downwards or upwards. The test incorporated different rodent species that dwell in different habitats and display different life and motor styles. Testing was performed in a three-dimensional Y-maze in which the basis was horizontal and, by rotating it, one arm of the maze could be pointing upwards at a certain angle and the other arm pointed downwards at the same angle. All the tested species displayed a general preference for descent, with rodents from complex habitats being less affected by inclination compared with rodents from flatlands. Unlike laboratory rats, wild species traveled greater distances along the lower compared to the upper maze arm. All the rodents initially tended to travel the entire length of the inclined maze arms, but such complete trips decreased with the increase in inclination. When introduced into the maze from top or bottom, flatland dwellers traveled mainly in the entry arm. Overall, when given the choice to ascend or descend, all the tested species displayed a preference to descend, perhaps as attraction to the ground, where they usually have their burrows.

Adaptive cognitive maps for curved surfaces in the 3D world

Terrains in a 3D world can be undulating. Yet, most prior research has exclusively investigated spatial representations on a flat surface, leaving a 2D cognitive map as the dominant model in the field. Here, we investigated whether humans represent a curved surface by building a dimension-reduced flattened 2D map or a full 3D map. Participants learned the location of objects positioned on a flat and curved surface in a virtual environment by driving on the concave side of the surface (Experiment 1), driving and looking vertically (Experiment 2), or flying (Experiment 3). Subsequently, they were asked to retrieve either the path distance or the 3D Euclidean distance between the objects. Path distance estimation was good overall, but we found a significant underestimation bias for the path distance on the curve, suggesting an influence of potential 3D shortcuts, even though participants were only driving on the surface. Euclidean distance estimation was better when participants were exposed more to the global 3D structure of the environment by looking and flying. These results suggest that the representation of the 2D manifold, embedded in a 3D world, is neither purely 2D nor 3D. Rather, it is flexible and dependent on the behavioral experience and demand.

Watching the Effects of Gravity. Vestibular Cortex and the Neural Representation of "Visual" Gravity

Gravity is a physical constraint all terrestrial species have adapted to through evolution. Indeed, gravity effects are taken into account in many forms of interaction with the environment, from the seemingly simple task of maintaining balance to the complex motor skills performed by athletes and dancers. Graviceptors, primarily located in the vestibular otolith organs, feed the Central Nervous System with information related to the gravity acceleration vector. This information is integrated with signals from semicircular canals, vision, and proprioception in an ensemble of interconnected brain areas, including the vestibular nuclei, cerebellum, thalamus, insula, retroinsula, parietal operculum, and temporo-parietal junction, in the so-called vestibular network. Classical views consider this stage of multisensory integration as instrumental to sort out conflicting and/or ambiguous information from the incoming sensory signals. However, there is compelling evidence that it also contributes to an internal representation of gravity effects based on prior experience with the environment. This a priori knowledge could be engaged by various types of information, including sensory signals like the visual ones, which lack a direct correspondence with physical gravity. Indeed, the retinal accelerations elicited by gravitational motion in a visual scene are not invariant, but scale with viewing distance. Moreover, the "visual" gravity vector may not be aligned with physical gravity, as when we watch a scene on a tilted monitor or in weightlessness. This review will discuss experimental evidence from behavioral, neuroimaging (connectomics, fMRI, TMS), and patients' studies, supporting the idea that the internal model estimating the effects of gravity on visual objects is constructed by transforming the vestibular estimates of physical gravity, which are computed in the brainstem and cerebellum, into internalized estimates of virtual gravity, stored in the vestibular cortex. The integration of the internal model of gravity with visual and non-visual signals would take place at multiple levels in the cortex and might involve recurrent connections between early visual areas engaged in the analysis of spatio-temporal features of the visual stimuli and higher visual areas in temporo-parietal-insular regions.

Fish can use hydrostatic pressure to determine their absolute depth

Hydrostatic pressure is a global cue that varies linearly with depth which could provide crucial spatial information for fish navigating vertically; however, whether fish can determine their depth using hydrostatic pressure has remained unknown. Here we show that Mexican tetras (Astyanax mexicanus) can learn the depth of a food site and consistently return to it with high fidelity using only hydrostatic pressure as a cue. Further, fish shifted their search location vertically as predicted if using pressure alone to signal depth. This study uncovers new sensory information available to fish which allows them to resolve their absolute depth on a fine scale.

Davis et al. investigate whether fish can determine water depth using hydrostatic pressure. Through experimental trials at fixed and variable water pressures, these authors show that fish can alter their depth of food search behavior with a change in water pressure, indicating that fish use hydrostatic pressure as a cue for sensing depth.

Visibility matters during wayfinding in the vertical

Visibility is the degree to which different parts of the environment can be observed from a given vantage point. In the absence of previous familiarity or signage, the visibility of key elements in a multilevel environment (e.g., the entrance, exit, or the destination itself) becomes a primary input to make wayfinding decisions and avoid getting lost. Previous research has focused on memory-based wayfinding and mental representation of 3D space, but few studies have investigated the direct effects of visibility on wayfinding. Moreover, to our knowledge, there are no studies that have explicitly observed the interaction between visibility and wayfinding under uncertainty in a multilevel environment. To bridge this gap, we studied how the visibility of destinations, as well as the continuity of sight-lines along the vertical dimension, affects unaided and goal-directed wayfinding behavior in a multilevel desktop Virtual Reality (VR) study. We obtained results from a total of 69 participants. Each participant performed a total of 24 wayfinding trials in a multilevel environment. Results showcase a significant and nonlinear correlation between the visibility of destinations and wayfinding behavioral characteristics. Specifically, once the destination was in sight, regardless of whether it was highly or barely visible, participants made an instantaneous decision to switch floors and move up towards the destination. In contrast, if the destination was out-of-sight, participants performed 'visual exploration', indicated by an increase in vertical head movements and greater time taken to switch floors. To demonstrate the direct applicability of this fundamental wayfinding behavioral pattern, we formalize these results by modeling a visibility-based cognitive agent. Our results show that by modeling the transition between exploration and exploitation as a function of visibility, cognitive agents were able to replicate human wayfinding patterns observed in the desktop VR study. This simple demonstration shows the potential of extending our main findings concerning the nonlinear relationship between visibility and wayfinding to inform the modeling of human cognition.

Impact of gravity on the perception of linear motion

Accurate perception of gravity and translation is fundamental for balance, navigation, and motor control. Previous studies have reported that perceptual thresholds for earth-vertical (i.e., parallel to gravity) and earth-horizontal (i.e., perpendicular to gravity) translations are equivalent in healthy adults, suggesting that the nervous system compensates for the presence of gravity. However, past study designs were not able to fully separate the effect of gravity from the potential effects of motion direction and body orientation. To quantify the effect of gravity on translation perception relative to these alternative factors, we measured vestibular perceptual thresholds for three motion directions (inter-aural, naso-occipital, and superior-inferior) and three body orientations (upright, supine, and ear-down). In contrast to prior reports, our data suggest that the nervous system does not universally compensate for the effects of gravity during translation, instead, we show that the colinear effect of gravity significantly decreases the sensitivity to stimuli for motions sensed by the utricles (inter-aural and naso-occipital translation), but this effect was not significant for motions sensed by the saccules (superior-inferior translations). We also identified increased thresholds for superior-inferior translation, suggesting decreased sensitivity of motions sensed predominantly by the saccule. An overall effect of body orientation on perception was seen; however, post hoc analyses suggest that this orientation effect may reflect the impact of gravity on self-motion perception. Overall, our data provide fundamental insights into the manner by which the nervous system processes vestibular self-motion cues, showing that the effect of gravity on translation perception is impacted by the direction of motion.NEW & NOTEWORTHY Perception of gravity and translation are fundamental for self-motion perception, balance, and motor control. The central nervous system must accurately disambiguate peripheral otolith signals encoding both linear acceleration and gravity. In contrast to past reports, we show that perception of translation depends on both motion relative to gravity and motion relative to the head. These results provide fundamental insights into otolith-mediated perception and suggest that the nervous system must compensate for the presence of gravity.

How environmental movement constraints shape the neural code for space

Study of the neural code for space in rodents has many insights to offer for how mammals, including humans, construct a mental representation of space. This code is centered on the hippocampal place cells, which are active in particular places in the environment. Place cells are informed by numerous other spatial cell types including grid cells, which provide a signal for distance and direction and are thought to help anchor the place cell signal. These neurons combine self-motion and environmental information to create and update their map-like representation. Study of their activity patterns in complex environments of varying structure has revealed that this "cognitive map" of space is not a fixed and rigid entity that permeates space, but rather is variably affected by the movement constraints of the environment. These findings are pointing toward a more flexible spatial code in which the map is adapted to the movement possibilities of the space. An as-yet-unanswered question is whether these different forms of representation have functional consequences, as suggested by an enactivist view of spatial cognition.

Modeling the grid cell activity on non-horizontal surfaces based on oscillatory interference modulated by gravity

Internal representation of the space is a fundamental and crucial function of the animal's brain. Grid cells in the medial entorhinal cortex are thought to provide an environment-invariant metric system for the navigation of the animal. Most experimental and theoretical studies have focused on the horizontal planar codes of grid cell, while how this metric coordinate system is configured in the actual three-dimensional space remains unclear. Evidence has implied the spatial cognition may not be fully volumetric. We proposed an oscillatory interference model with a novel gravity and body plane modulation to simulate grid cell activity in complex space for rodents. The animal can perceive the rotation of its body plane along the local surface by sensing the gravity, causing the modulation to the dendritic oscillations. The results not only reproduce the firing patterns of the grid cell recorded from known experiments, but also predict the grid codes in novel environments. It further demonstrates that the gravity signal is indispensable for the animal's navigation, and supports the hypothesis that the periodic firing of the grid cell is intrinsically not a volumetric code in three-dimensional space. This will provide new insights to understand the spatial representation of the actual world in the brain.

Irregular distribution of grid cell firing fields in rats exploring a 3D volumetric space

We investigated how entorhinal grid cells encode volumetric space. On a horizontal surface, grid cells usually produce multiple, spatially focal, approximately circular firing fields that are evenly sized and spaced to form a regular, close-packed, hexagonal array. This spatial regularity has been suggested to underlie navigational computations. In three dimensions, theoretically the equivalent firing pattern would be a regular, hexagonal close packing of evenly sized spherical fields. In the present study, we report that, in rats foraging in a cubic lattice, grid cells maintained normal temporal firing characteristics and produced spatially stable firing fields. However, although most grid fields were ellipsoid, they were sparser, larger, more variably sized and irregularly arranged, even when only fields abutting the lower surface (equivalent to the floor) were considered. Thus, grid self-organization is shaped by the environment's structure and/or movement affordances, and grids may not need to be regular to support spatial computations.

Volumetric spatial behaviour in rats reveals the anisotropic organisation of navigation

We investigated how access to the vertical dimension influences the natural exploratory and foraging behaviour of rats. Using high-accuracy three-dimensional tracking of position in two- and three-dimensional environments, we sought to determine (i) how rats navigated through the environments with respect to gravity, (ii) where rats chose to form their home bases in volumetric space, and (iii) how they navigated to and from these home bases. To evaluate how horizontal biases may affect these behaviours, we compared a 3D maze where animals preferred to move horizontally to a different 3D configuration where all axes were equally energetically costly to traverse. Additionally, we compared home base formation in two-dimensional arenas with and without walls to the three-dimensional climbing mazes. We report that many behaviours exhibited by rats in horizontal spaces naturally extend to fully volumetric ones, such as home base formation and foraging excursions. We also provide further evidence for the strong differentiation of the horizontal and vertical axes: rats showed a horizontal movement bias, they formed home bases mainly in the bottom layers of both mazes and they generally solved the vertical component of return trajectories before and faster than the horizontal component. We explain the bias towards horizontal movements in terms of energy conservation, while the locations of home bases are explained from an information gathering view as a method for correcting self-localisation.

Global multisensory reorganization after vestibular brain stem stroke

OBJECTIVE

Patients with acute central vestibular syndrome suffer from vertigo, spontaneous nystagmus, postural instability with lateral falls, and tilts of visual vertical. Usually, these symptoms compensate within months. The mechanisms of compensation in vestibular infarcts are yet unclear. This study focused on structural changes in gray and white matter volume that accompany clinical compensation.

METHODS

We studied patients with acute unilateral brain stem infarcts prospectively over 6 months. Structural changes were compared between the acute phase and follow-up with a group of healthy controls using voxel-based morphometry.

RESULTS

Restitution of vestibular function following brain stem infarcts was accompanied by downstream structural changes in multisensory cortical areas. The changes depended on the location of the infarct along the vestibular pathways in patients with pathological tilts of the SVV and on the quality of the vestibular percept (rotatory vs graviceptive) in patients with pontomedullary infarcts. Patients with pontomedullary infarcts with vertigo or spontaneous nystagmus showed volumetric increases in vestibular parietal opercular multisensory and (retro-) insular areas with right-sided preference. Compensation of graviceptive deficits was accompanied by adaptive changes in multiple multisensory vestibular areas in both hemispheres in lower brain stem infarcts and by additional changes in the motor system in upper brain stem infarcts.

INTERPRETATION

This study demonstrates multisensory neuroplasticity in both hemispheres along with the clinical compensation of vestibular deficits following unilateral brain stem infarcts. The data further solidify the concept of a right-hemispheric specialization for core vestibular processing. The identification of cortical structures involved in central compensation could serve as a platform to launch novel rehabilitative treatments such as transcranial stimulations.

Time Course of Sensory Substitution for Gravity Sensing in Visual Vertical Orientation Perception following Complete Vestibular Loss

Loss of vestibular function causes severe acute symptoms of dizziness and disorientation, yet the brain can adapt and regain near to normal locomotor and orientation function through sensory substitution. Animal studies quantifying functional recovery have yet been limited to reflexive eye movements. Here, we studied the interplay between vestibular and proprioceptive graviception in macaque monkeys trained in an earth-vertical visual orientation (subjective visual vertical; SVV) task and measured the time course of sensory substitution for gravity perception following complete bilateral vestibular loss (BVL). Graviceptive gain, defined as the ratio of perceived versus actual tilt angle, decreased to 20% immediately following labyrinthectomy, and recovered to nearly prelesion levels with a time constant of approximately three weeks of postsurgery testing. We conclude that proprioception accounts for up to 20% of gravity sensing in normal animals, and is re-weighted to substitute completely perceptual graviception after vestibular loss. We show that these results can be accounted for by an optimal sensory fusion model.

On the absence or presence of 3D tuned head direction cells in rats: a review and rebuttal

A major question in the field of spatial cognition is how animals represent three-dimensional (3D) space. Different results have been obtained across various species and may depend on whether the species inhabits a 3D environment or is terrestrial (land dwelling). The head direction (HD) cell system is an attractive candidate to study in terms of 3D representations. HD cells fire as a function of the animal's directional heading in the horizontal plane, independent of the animal's location and on-going behavior. Another issue concerns whether HD cells are tuned in 3D space or tuned to the 2D horizontal plane. Shinder and Taube (Shinder ME, Taube JS. J Neurophysiol 121: 4-37, 2019) addressed this issue by manipulating a rat's orientation in 3D space while monitoring responses from classic HD cells in the rat anterodorsal thalamus. They reported that HD cells did not display conjunctive firing with pitch or roll orientations. Direction-specific firing was primarily derived from horizontal semicircular canal information and that the gravity vector played an important role in influencing the cell's firing rate and its preferred firing direction. Laurens and Angelaki (Laurens J, Angelaki DE. J Neurophysiol 122: 1274-1287, 2019) challenged this view by performing a mathematical analysis on the Shinder and Taube data and concluded that they would not have seen 3D tuning based on their experimental approach. We provide a historical review of these issues followed by a summary of the experiments, which includes additional analyses. We then define what it means for a HD cell to be tuned in 3D and finish by rebutting the reanalyses performed by Laurens and Angelaki.

A gravity-based three-dimensional compass in the mouse brain

Gravity sensing provides a robust verticality signal for three-dimensional navigation. Head direction cells in the mammalian limbic system implement an allocentric neuronal compass. Here we show that head-direction cells in the rodent thalamus, retrosplenial cortex and cingulum fiber bundle are tuned to conjunctive combinations of azimuth and tilt, i.e. pitch or roll. Pitch and roll orientation tuning is anchored to gravity and independent of visual landmarks. When the head tilts, azimuth tuning is affixed to the head-horizontal plane, but also uses gravity to remain anchored to the allocentric bearings in the earth-horizontal plane. Collectively, these results demonstrate that a three-dimensional, gravity-based, neural compass is likely a ubiquitous property of mammalian species, including ground-dwelling animals.

Head direction neurons constitute the brain’s compass, and are classically known to indicate head orientation in the horizontal plane. Here, the authors show that head direction neurons form a three-dimensional compass that can also indicate head tilt, and anchors to gravity.

Testing Navigation in Real Space: Contributions to Understanding the Physiology and Pathology of Human Navigation Control

Successful navigation relies on the flexible and appropriate use of metric representations of space or topological knowledge of the environment. Spatial dimensions (2D vs. 3D), spatial scales (vista-scale vs. large-scale environments) and the abundance of visual landmarks critically affect navigation performance and behavior in healthy human subjects. Virtual reality (VR)-based navigation paradigms in stationary position have given insight into the major navigational strategies, namely egocentric (body-centered) and allocentric (world-centered), and the cerebral control of navigation. However, VR approaches are biased towards optic flow and visual landmark processing. This major limitation can be overcome to some extent by increasingly immersive and realistic VR set-ups (including large-screen projections, eye tracking and use of head-mounted camera systems). However, the highly immersive VR settings are difficult to apply particularly to older subjects and patients with neurological disorders because of cybersickness and difficulties with learning and conducting the tasks. Therefore, a need for the development of novel spatial tasks in real space exists, which allows a synchronous analysis of navigational behavior, strategy, visual explorations and navigation-induced brain activation patterns. This review summarizes recent findings from real space navigation studies in healthy subjects and patients with different cognitive and sensory neurological disorders. Advantages and limitations of real space navigation testing and different VR-based navigation paradigms are discussed in view of potential future applications in clinical neurology.

The place-cell representation of volumetric space in rats

Place cells are spatially modulated neurons found in the hippocampus that underlie spatial memory and navigation: how these neurons represent 3D space is crucial for a full understanding of spatial cognition. We wirelessly recorded place cells in rats as they explored a cubic lattice climbing frame which could be aligned or tilted with respect to gravity. Place cells represented the entire volume of the mazes: their activity tended to be aligned with the maze axes, and when it was more difficult for the animals to move vertically the cells represented space less accurately and less stably. These results demonstrate that even surface-dwelling animals represent 3D space and suggests there is a fundamental relationship between environment structure, gravity, movement and spatial memory.

Path integration in a three-dimensional world: the case of desert ants

Desert ants use path integration to return from foraging excursions on a shortcut way to their nests. Intriguingly, when walking over hills, the ants incorporate the ground distance, the paths’ projection to the horizontal plane, into their path integrator. This review discusses how Cataglyphis may solve this computational feat. To infer ground distance, ants must incorporate the inclination of path segments into the assessment of distance. Hair fields between various joints have been eliminated as likely sensors for slope measurement, without affecting slope detection; nor do postural adaptations or changes in gait provide the relevant information. Changes in the sky’s polarization pattern due to different head inclinations on slopes were ruled out as cues. Thus, the mechanisms by which ants may measure slopes still await clarification. Remarkably, the precision of slope measurement is roughly constant up to a 45° inclination, but breaks down at 60°. An encounter of sloped path segments during a foraging trip induces a general acceptance of slopes, however, slopes are not associated with specific values of the home vector. All current evidence suggests that Cataglyphis does not compute a vector in 3-D: path integration seems to operate exclusively in the horizontal plane.

Real-space navigation testing differentiates between amyloid-positive and -negative aMCI

OBJECTIVE

To distinguish between patients with amyloid-positive (A+) and -negative (A-) amnestic mild cognitive impairment (aMCI) by simultaneously investigating navigation performance, visual exploration behavior, and brain activations during a real-space navigation paradigm.

METHODS

Twenty-one patients with aMCI were grouped into A+ (n = 11) and A- cases by amyloid-PET imaging and amyloid CSF levels and compared to 15 healthy controls. Neuropsychological deficits were quantified by use of the Consortium to Establish a Registry for Alzheimer's Disease-plus cognitive battery. All participants performed a navigation task in which they had to find items in a realistic spatial environment and had to apply egocentric and allocentric route planning strategies. ¹⁸F-fluorodeoxyglucose was injected at the start to detect navigation-induced brain activations. Subjects wore a gaze-controlled, head-fixed camera that recorded their visual exploration behavior.

RESULTS

A+ patients performed worse during egocentric and allocentric navigation compared to A- patients and controls (p < 0.001). Both aMCI subgroups used fewer shortcuts, moved more slowly, and stayed longer at crossings. Word-list learning, figural learning, and Trail-Making tests did not differ in the A+ and A- subgroups. A+ patients showed a reduced activation of the right hippocampus, retrosplenial, and parietal cortex during navigation compared to A- patients (p < 0.005).

CONCLUSIONS

A+ patients with aMCI perform worse than A- patients with aMCI in egocentric and allocentric route planning because of a more widespread impairment of their cerebral navigation network. Navigation testing in real space is a promising approach to identify patients with aMCI with underlying Alzheimer pathology.

NeuroSLAM: a brain-inspired SLAM system for 3D environments

Roboticists have long drawn inspiration from nature to develop navigation and simultaneous localization and mapping (SLAM) systems such as RatSLAM. Animals such as birds and bats possess superlative navigation capabilities, robustly navigating over large, three-dimensional environments, leveraging an internal neural representation of space combined with external sensory cues and self-motion cues. This paper presents a novel neuro-inspired 4DoF (degrees of freedom) SLAM system named NeuroSLAM, based upon computational models of 3D grid cells and multilayered head direction cells, integrated with a vision system that provides external visual cues and self-motion cues. NeuroSLAM's neural network activity drives the creation of a multilayered graphical experience map in a real time, enabling relocalization and loop closure through sequences of familiar local visual cues. A multilayered experience map relaxation algorithm is used to correct cumulative errors in path integration after loop closure. Using both synthetic and real-world datasets comprising complex, multilayered indoor and outdoor environments, we demonstrate NeuroSLAM consistently producing topologically correct three-dimensional maps.

"It's all in their head": hierarchical exploration of a three-dimensional layered pyramid in rats

Wayfinding in a three-dimensional (3D) environment is intricate, and surface-bounded animals may overcome this complexity by breaking it down into horizontal layers along with the vertical location of each layer. Here, we examined how rats explored a layered pyramid placed in a large open field. We found that exploration presented a hierarchical (or fractal) shape of three types of roundtrips: (1) from the primary home-base to the open-field floor; (2) from the floor up and down the pyramid levels; and (3) from local home-base on each pyramid level. Ascent was slow and interrupted, whereas descent was fast. This difference was a result of level altitude, remaining after data were normalized proportionally to level area. In contrast, the time spent and the distance traveled on each level were dependent on level area, not on level altitude. This structure of spatial behavior accords with multilevel exploration, presenting a relatively independent exploration of each level. The vertical dimension in this experiment thus did not alter the typical spatiotemporal behavior, and the 3D environment was explored by application of the same spatiotemporal approach as that of a horizontal open field. We suggest that this lack of alteration is due to the horizontal posture of the animal's head and trunk during progression on the pyramid. This behavior also seems to fit the bicoding hypothesis, in which the vertical information is virtually contextual (non-metric), and so, when the rat progresses to a new level, it explores it as a newly accessed horizontal floor area.

Is hippocampal remapping the physiological basis for context?

In 1980, Nadel and Wilner extended Richard Hirsh's notion that the hippocampus creates environmental representations, called "contexts," suggesting that the fundamental structure of context was the spatial representation proposed by O'Keefe and Nadel's landmark book, The Hippocampus as a Cognitive Map (1978). This book, in turn, derives from the discovery that individual hippocampal neurons act as place cells, with the complete set of place cells tiling an enclosure, forming a type of spatial map. It was found that unique environments had unique place cell representations. That is, if one takes the hippocampal map of a specific environment, this representation scrambles, or "remaps" when the animal is placed in a different environment. Several authors have speculated that "maps" and "remapping" form the physiological substrates for context and context shifting. One difficulty with this definition is that it is exclusively spatial; it can only be inferred when an animal locomotes in an enclosure. There are five aims for this article. The first is to give an historical overview of context as a variable that controls behavior. The second aim is to give an historical overview of concepts of place cell maps and remapping. The third aim is to propose an updated definition of a place cell map, based on temporal rather than spatial overlaps, which adds flexibility. The fourth aim is to address the issue of whether the biological phenomenon of hippocampal remapping, is, in fact, the substrate for shifts in the psychological phenomenon of context. The final aim is speculation of how contextual representations may contribute to effective behavior.

A model-based reassessment of the three-dimensional tuning of head direction cells in rats

In a recent study, Shinder and Taube (Shinder ME, Taube JS. J Neurophysiol 121: 4-37, 2019) concluded that head direction cells in the anterior thalamus of rats are tuned to one-dimensional (1D, yaw-only) motion, in contrast to recent findings in bats, mice, and rats. Here we reinterpret the author's experimental results using model comparison and demonstrate that, contrary to their conclusions, experimental data actually supports the dual-axis rule (lson JJ, Jeffery KJ. JNeurophysiol 119: 192-208, 2018) and tilted azimuth model (Laurens J, Angelaki DE. Neuron 97: 275-289, 2018), where head direction cells use gravity to integrate 3D rotation signals about all cardinal axes of the head. We further show that the Shinder and Taube study is inconclusive regarding the presence of vertical orientation tuning; i.e., whether head direction cells encode 3D orientation in the horizontal and vertical planes conjunctively. Using model simulations, we demonstrate that, even if 3D tuning existed, the experimental protocol and data analyses used by Shinder and Taube would not have revealed it. We conclude that the actual experimental data of Shinder and Taube are compatible with the 3D properties of head direction cells discovered by other groups, yet incorrect conclusions were reached because of incomplete and qualitative analyses.NEW & NOTEWORTHY We conducted a model-based analysis previously published data where rat head direction cells were recorded during three-dimensional motion (Shinder ME, Taube JS. J Neurophysiol 121: 4-37, 2019). We found that these data corroborate previous models ("dual-axis rule," Page HJI, Wilson JJ, Jeffery KJ. J Neurophysiol 119: 192-208, 2018; and "tilted azimuth model," Laurens J, Angelaki DE. Neuron 97: 275-289, 2018) where head direction cells integrate rotations along all three head axes to encode head orientation in a gravity-anchored reference frame.

The Brain Compass: A Perspective on How Self-Motion Updates the Head Direction Cell Attractor

Head direction cells form an internal compass signaling head azimuth orientation even without visual landmarks. This property is generated by a neuronal ring attractor that is updated using rotation velocity cues. The properties and origin of this velocity drive remain, however, unknown. We propose a quantitative framework whereby this drive represents a multisensory self-motion estimate computed through an internal model that uses sensory prediction errors of vestibular, visual, and somatosensory cues to improve on-line motor drive. We show how restraint-dependent strength of recurrent connections within the attractor can explain differences in head direction cell firing between free foraging and restrained passive rotation. We also summarize recent findings on how gravity influences azimuth coding, indicating that the velocity drive is not purely egocentric. Finally, we show that the internal compass may be three-dimensional and hypothesize that the additional vertical degrees of freedom use global allocentric gravity cues.

Altered neural odometry in the vertical dimension

The brain’s spatial map is supported by place cells, encoding current location, and grid cells, which report horizontal distance traveled by producing evenly sized and spaced foci of activity (firing fields) that tile the environment surface. We investigated whether the metric properties of the cells’ activity are the same in vertical space as in horizontal. On a vertical wall, grid-cell firing fields were enlarged and more widely spaced, while place-cell firing fields were unchanged in size/shape but less prevalent. Sensitivity of single-cell and population field potential activity to running speed was reduced. Together, these results suggest that spatial encoding properties are determined by an interaction between the body-plane alignment and the gravity axis.

Entorhinal grid cells integrate sensory and self-motion inputs to provide a spatial metric of a characteristic scale. One function of this metric may be to help localize the firing fields of hippocampal place cells during formation and use of the hippocampal spatial representation (“cognitive map”). Of theoretical importance is the question of how this metric, and the resulting map, is configured in 3D space. We find here that when the body plane is vertical as rats climb a wall, grid cells produce stable, almost-circular grid-cell firing fields. This contrasts with previous findings when the body was aligned horizontally during vertical exploration, suggesting a role for the body plane in orienting the plane of the grid cell map. However, in the present experiment, the fields on the wall were fewer and larger, suggesting an altered or absent odometric (distance-measuring) process. Several physiological indices of running speed in the entorhinal cortex showed reduced gain, which may explain the enlarged grid pattern. Hippocampal place fields were found to be sparser but unchanged in size/shape. Together, these observations suggest that the orientation and scale of the grid cell map, at least on a surface, are determined by an interaction between egocentric information (the body plane) and allocentric information (the gravity axis). This may be mediated by the different sensory or locomotor information available on a vertical surface and means that the resulting map has different properties on a vertical plane than a horizontal plane (i.e., is anisotropic).

Does spatial information impact immediate verbatim recall of verbal navigation instructions?

The present study addresses the issue of whether spatial information impacts immediate verbatim recall of verbal navigation instructions. Subjects heard messages instructing them to move within a two-dimensional depiction of a three-dimensional space consisting of four stacked grids displayed on a computer screen. They repeated the instructions orally and then followed them manually by clicking with a mouse on the grids. Two groups with identical instructions were compared; they differed only in whether the starting position was indicated before or after the instructions were given and repeated, with no differences in the manual movements to be made. Accuracy on both the oral repetition and manual movement responses was significantly higher when the starting position was indicated before the instructions. The results are consistent with the proposal that there is only a single amodal mental representation, rather than distinct verbal and nonverbal representations, of navigation instructions. The advantage for the before condition was found even for the oral repetition responses, implying that the creation of the amodal representation occurred immediately, while the instructions were being held in working memory. In practical terms, the findings imply that being able to form a mental representation of the movement path while being given verbal navigation instructions should substantially facilitate memory for the instructions and execution of them.

Hippocampal place cell encoding of sloping terrain

Effective navigation relies on knowledge of one's environment. A challenge to effective navigation is accounting for the time and energy costs of routes. Irregular terrain in ecological environments poses a difficult navigational problem as organisms ought to avoid effortful slopes to minimize travel costs. Route planning and navigation have previously been shown to involve hippocampal place cells and their ability to encode and store information about an organism's environment. However, little is known about how place cells may encode the slope of space and associated energy costs as experiments are traditionally carried out in flat, horizontal environments. We set out to investigate how dorsal-CA1 place cells in rats encode systematic changes to the slope of an environment by tilting a shuttle box from flat to 15 ° and 25 ° while minimizing external cue change. Overall, place cell encoding of tilted space was as robust as their encoding of flat ground as measured by traditional place cell metrics such as firing rates, spatial information, coherence, and field size. A large majority of place cells did, however, respond to slope by undergoing partial, complex remapping when the environment was shifted from one tilt angle to another. The propensity for place cells to remap did not, however, depend on the vertical distance the field shifted. Changes in slope also altered the temporal coding of information as measured by the rate of theta phase precession of place cell spikes, which decreased with increasing tilt angles. Together these observations indicate that place cells are sensitive to relatively small changes in terrain slope and that terrain slope may be an important source of information for organizing place cell ensembles. The terrain slope information encoded by place cells could be utilized by efferent regions to determine energetically advantageous routes to goal locations.

Three-dimensional tuning of head direction cells in rats

Head direction (HD) cells fire when the animal faces that cell's preferred firing direction (PFD) in the horizontal plane. The PFD response when the animal is oriented outside the earth-horizontal plane could result from cells representing direction in the plane of locomotion or as a three-dimensional (3D), global-referenced direction anchored to gravity. To investigate these possibilities, anterodorsal thalamic HD cells were recorded from restrained rats while they were passively positioned in various 3D orientations. Cell responses were unaffected by pitch or roll up to ~90° from the horizontal plane. Firing was disrupted once the animal was oriented >90° away from the horizontal plane and during inversion. When rolling the animal around the earth-vertical axis, cells were active when the animal's ventral surface faced the cell's PFD. However, with the rat rolled 90° in an ear-down orientation, pitching the rat and rotating it around the vertical axis did not produce directionally tuned responses. Complex movements involving combinations of yaw-roll, but usually not yaw-pitch, resulted in reduced directional tuning even at the final upright orientation when the rat had full visual view of its environment and was pointing in the cell's PFD. Directional firing was restored when the rat's head was moved back-and-forth. There was limited evidence indicating that cells contained conjunctive firing with pitch or roll positions. These findings suggest that the brain's representation of directional heading is derived primarily from horizontal canal information and that the HD signal is a 3D gravity-referenced signal anchored to a direction in the horizontal plane. NEW & NOTEWORTHY This study monitored head direction cell responses from rats in three dimensions using a series of manipulations that involved yaw, pitch, roll, or a combination of these rotations. Results showed that head direction responses are consistent with the use of two reference frames simultaneously: one defined by the surrounding environment using primarily visual landmarks and a second defined by the earth's gravity vector.

3D Hippocampal Place Field Dynamics in Free-Flying Echolocating Bats

A large body of laboratory research has investigated the process by which environmental cues are acquired and used for spatial navigation in rodents; however, the key to differentiating between species specializations and general principles lies in comparative research. Rodent research has focused on a class of neurons in the hippocampus implicated in the representation of allocentric space - termed place cells - and the process by which these representations form. One class of models of hippocampal place field formation depends on continuous theta, a low frequency brain oscillation that is prevalent in crawling rodents. Comparative studies of hippocampal activity in echolocating bats have reported many findings that parallel the rodent literature, but also describe noteworthy species differences, especially with respect to theta rhythm. Here, we first discuss studies of the bat hippocampal formation and point to gaps in our knowledge, which motivate our new lines of inquiry. We present data from the free-flying laryngeal echolocating big brown bat, which shows 3-D place cells without continuous theta, similar to reports from the lingual echolocating Egyptian fruit bat. We also report findings, which demonstrate that the animal's control over echolocation call rate (sensory sampling) influences place field tuning. These results motivate future comparative research on hippocampal function in the context of natural sensory-guided behaviors.

Body-relative horizontal-vertical anisotropy in human representations of traveled distances

A growing number of studies investigated anisotropies in representations of horizontal and vertical spaces. In humans, compelling evidence for such anisotropies exists for representations of multi-floor buildings. In contrast, evidence regarding open spaces is indecisive. Our study aimed at further enhancing the understanding of horizontal and vertical spatial representations in open spaces utilizing a simple traveled distance estimation paradigm. Blindfolded participants were moved along various directions in the sagittal plane. Subsequently, participants passively reproduced the traveled distance from memory. Participants performed this task in an upright and in a 30° backward-pitch orientation. The accuracy of distance estimates in the upright orientation showed a horizontal–vertical anisotropy, with higher accuracy along the horizontal axis compared with the vertical axis. The backward-pitch orientation enabled us to investigate whether this anisotropy was body or earth-centered. The accuracy patterns of the upright condition were positively correlated with the body-relative (not the earth-relative) coordinate mapping of the backward-pitch condition, suggesting a body-centered anisotropy. Overall, this is consistent with findings on motion perception. It suggests that the distance estimation sub-process of path integration is subject to horizontal–vertical anisotropy. Based on the previous studies that showed isotropy in open spaces, we speculate that real physical self-movements or categorical versus isometric encoding are crucial factors for (an)isotropies in spatial representations.

Hippocampus, Retrosplenial and Parahippocampal Cortices Encode Multicompartment 3D Space in a Hierarchical Manner

Humans commonly operate within 3D environments such as multifloor buildings and yet there is a surprising dearth of studies that have examined how these spaces are represented in the brain. Here, we had participants learn the locations of paintings within a virtual multilevel gallery building and then used behavioral tests and fMRI repetition suppression analyses to investigate how this 3D multicompartment space was represented, and whether there was a bias in encoding vertical and horizontal information. We found faster response times for within-room egocentric spatial judgments and behavioral priming effects of visiting the same room, providing evidence for a compartmentalized representation of space. At the neural level, we observed a hierarchical encoding of 3D spatial information, with left anterior hippocampus representing local information within a room, while retrosplenial cortex, parahippocampal cortex, and posterior hippocampus represented room information within the wider building. Of note, both our behavioral and neural findings showed that vertical and horizontal location information was similarly encoded, suggesting an isotropic representation of 3D space even in the context of a multicompartment environment. These findings provide much-needed information about how the human brain supports spatial memory and navigation in buildings with numerous levels and rooms.

Why acute unilateral vestibular midbrain lesions rarely manifest with rotational vertigo: a clinical and modelling approach to head direction cell function

A retrospective clinical study focused on the frequency of rotational vertigo in 63 patients with acute unilateral midbrain strokes involving the vestibular and ocular motor systems. In contrast to unilateral pontomedullary brainstem lesions, rotational vertigo in midbrain lesions occurred with a low frequency (14%) and transient (< 1 day) course. Swaying vertigo or unspecific dizziness (22%) and postural imbalance (31%) were more frequent. Midbrain strokes with transient rotational vertigo manifested with lesions chiefly in the caudal midbrain tegmentum, while manifestations with swaying, unspecific, or no vertigo chiefly occurred in rostral mesencephalic or meso-diencephalic lesions. We hypothesize that these different manifestations can be explained by the distribution of two separate cell systems based on semicircular canal function: the angular head-velocity cells and the head direction cells, both of which code for head rotation. Animal experiments have shown that angular head-velocity cells are located mainly in the lower brainstem up to the midbrain, whereas the head direction cells are found from the midbrain and thalamic level up to cortical regions. Due to the differences in coding, unilateral dysfunction of the angular velocity cell system should result in the sensation of rotation, while unilateral dysfunction of the head direction cell system should result in dizziness and unsteadiness. We simulated the different manifestations of vestibular dysfunction using a mathematical neural network model of the head direction cell system. This model predicted and confirmed our clinical findings that unilateral caudal and rostral brainstem lesions have different effects on vestibular function.

Locomotor Behavior of Chickens Anticipating Incline Walking

Keel bone damage (KBD) is prevalent in hens raised for egg production, and ramps between different tiers in aviaries have potential to reduce the frequency of falls resulting in KBD. Effective use of ramps requires modulation of locomotion in anticipation of the incline. Inadequate adaptive locomotion may be one explanation why domestic layer hens (Gallus gallus domesticus) exhibit high rates of KBD. To improve understanding of the capacity of hens to modulate their locomotion in anticipation of climbing, we measured the effects of incline angle upon the mechanics of the preparatory step before ascending a ramp. Because the energetic challenge of climbing increases with slope, we predicted that as angle of incline increased, birds during foot contact with the ground before starting to climb would increase their peak force and duration of contact and reduce variation in center of pressure (COP) under their foot. We tested 20 female domestic chickens on ramp inclines at slopes of +0°, +40°, and +70° when birds were 17, 21, 26, 31, and 36 weeks of age. There were significantly higher vertical peak ground reaction forces in preparation at the steepest slope, and ground contact time increased significantly with each increase in ramp angle. Effects upon variation in COP were not apparent; likewise, effects of limb length, age, body mass were not significant. Our results reveal that domestic chickens are capable of modulating their locomotion in response to incline angle.

The View from the Trees: Nocturnal Bull Ants, Myrmecia midas, Use the Surrounding Panorama While Descending from Trees

Solitary foraging ants commonly use visual cues from their environment for navigation. Foragers are known to store visual scenes from the surrounding panorama for later guidance to known resources and to return successfully back to the nest. Several ant species travel not only on the ground, but also climb trees to locate resources. The navigational information that guides animals back home during their descent, while their body is perpendicular to the ground, is largely unknown. Here, we investigate in a nocturnal ant, Myrmecia midas, whether foragers travelling down a tree use visual information to return home. These ants establish nests at the base of a tree on which they forage and in addition, they also forage on nearby trees. We collected foragers and placed them on the trunk of the nest tree or a foraging tree in multiple compass directions. Regardless of the displacement location, upon release ants immediately moved to the side of the trunk facing the nest during their descent. When ants were released on non-foraging trees near the nest, displaced foragers again travelled around the tree to the side facing the nest. All the displaced foragers reached the correct side of the tree well before reaching the ground. However, when the terrestrial cues around the tree were blocked, foragers were unable to orient correctly, suggesting that the surrounding panorama is critical to successful orientation on the tree. Through analysis of panoramic pictures, we show that views acquired at the base of the foraging tree nest can provide reliable nest-ward orientation up to 1.75 m above the ground. We discuss, how animals descending from trees compare their current scene to a memorised scene and report on the similarities in visually guided behaviour while navigating on the ground and descending from trees.

3-D spatial memory and navigation: functions and disorders

PURPOSE OF REVIEW

The aim of this review is to report on the specialized neuronal systems mediating spatial orientation and navigation discovered in animal experiments. These findings have important implications for the clinical management of patients with vestibular disorders or dementia and for translational research in these fields.

RECENT FINDINGS

The following anatomically and functionally separate, but nevertheless cooperative cell types have been characterized: angular head velocity cells and head direction cells, which depend on vestibular input and interact with place cells and grid cells, which represent position and distance. The entire system is thought to encode internal cognitive maps whose spatial data can be utilized for navigation and orientation. Flying and swimming species use spatial orientation and navigation isotropically, i.e., in the earth-horizontal and vertical directions, whereas ground-based species, including humans, perform better in the earth-horizontal plane (anisotropically). Examples of clinical disorders with deficits of spatial orientation and navigation are bilateral peripheral vestibulopathy, mild cognitive impairment, and dementia.

SUMMARY

Testing spatial orientation and navigation should become an integral part of routine neurological examinations, especially in the elderly. Also desirable are the further development and standardization of simple and reliable smart phone-based bedside tests to measure these functions in patients.

3-D Maps and Compasses in the Brain

The world has a complex, three-dimensional (3-D) spatial structure, but until recently the neural representation of space was studied primarily in planar horizontal environments. Here we review the emerging literature on allocentric spatial representations in 3-D and discuss the relations between 3-D spatial perception and the underlying neural codes. We suggest that the statistics of movements through space determine the topology and the dimensionality of the neural representation, across species and different behavioral modes. We argue that hippocampal place-cell maps are metric in all three dimensions, and might be composed of 2-D and 3-D fragments that are stitched together into a global 3-D metric representation via the 3-D head-direction cells. Finally, we propose that the hippocampal formation might implement a neural analogue of a Kalman filter, a standard engineering algorithm used for 3-D navigation.

The parietal lobe and the vestibular system

The vestibular cortex differs in various ways from other sensory cortices. It consists of a network of several distinct and separate temporoparietal areas. Its core region, the parietoinsular vestibular cortex (PIVC), is located in the posterior insula and retroinsular region and includes the parietal operculum. The entire network is multisensory (in particular, vestibular, visual, and somatosensory). The peripheral and central vestibular systems are bilaterally organized; there are various pontomesencephalic brainstem crossings and at least two transcallosal connections of both hemispheres, between the PIVC and the motion-sensitive visual cortex areas, which also mediate vestibular input. Structural and functional vestibular dominance characterizes the right hemisphere in right-handers and the left hemisphere in left-handers. This explains why right-hemispheric lesions in right-handers more often generally cause hemispatial neglect and the pusher syndrome, both of which involve vestibular function. Vestibular input also contributes to cognition and may determine individual lateralization of brain functions such as handedness. Bilateral organization is a major key to understanding cortical functions and disorders, for example, the visual-vestibular interaction that occurs in spatial orientation. Although the vestibular cortex is represented in both hemispheres, there is only one global percept of body position and motion. The chiefly vestibular aspects of the multiple functions and disorders of the parietal lobe dealt with in this chapter cannot be strictly separated from various multisensory vestibular functions within the entire brain.