Geographical slant facilitates navigation and orientation in virtual environments

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.

Exploring the Effects of Geographic Scale on Spatial Learning

Background

Investigating the relationship between the human body and its spatial environment is a critical component in understanding the process of acquiring spatial knowledge. However, few empirical evaluations have looked at how the visual accessibility of an environment affects spatial learning. To address this gap, this paper focuses on geographic scale, defined as the spatial extent visually accessible from a single viewpoint. We present two experiments in which we manipulated geographic scale using two perspectives, a ground level and an elevated view, in order to better understand the scale effect on spatial learning. Learning outcomes were measured using estimates of direction and self-reports of mental workload.

Results

In contrast to our hypothesis, we found few differences in spatial learning when comparing different perspectives. However, our analysis of pointing errors shows a significant interaction effect between the scale and spatial ability: The elevated perspective reduced the differences in pointing errors between low and high spatial ability participants in contrast to when participants learned the environment at ground level alone. Bimodal pointing distributions indicate that participants made systematic errors, for example, forgetting turns or segments. Modeling these errors revealed a unified alternative representation of the environment and further suggests that low spatial ability participants benefited more from the elevated perspective in terms of spatial learning compared to high spatial ability participants.

Conclusions

We conclude that an increased geographic scale, which was accessible through an elevated perspective in this study, can help bridge the performance gap in spatial learning between low and high spatial ability participants.

Complementary landmarks facilitate ant navigation

Visual landmarks are important navigational aids to many animals, and when more than one is available their juxtaposition can convey valuable new information to a navigator about progress toward a goal, depending on the landmarks' comparative distinctiveness. We investigated the effect of presenting rock ant colonies (Temnothorax albipennis) with identical horizontal landmarks either side of their route, versus one horizontal landmark paired with a sloping landmark, as they navigated to a new nest site. Our findings suggest that ants can obtain more navigational information from a combination of dissimilar landmarks: the average tortuosity of the route taken between old and new nests was significantly lower when a horizontal landmark was paired with a monotonically downward sloping landmark (the paths were more direct). The impact on available navigational information from the similarity or dissimilarity of nearby landmarks is likely made through more distinctive visual panoramas, and could be an influential factor in individual and collective animal decision-making about which routes are followed. Furthermore, the effect of landmark complementarity may be relevant to a wide range of species, including other insects or birds, and highlights the possibility that there is an intrinsic difference in the informational content of natural vs. artificial environments.

No advantage for remembering horizontal over vertical spatial locations learned from a single viewpoint

Previous behavioral and neurophysiological research has shown better memory for horizontal than for vertical locations. In these studies, participants navigated toward these locations. In the present study we investigated whether the orientation of the spatial plane per se was responsible for this difference. We thus had participants learn locations visually from a single perspective and retrieve them from multiple viewpoints. In three experiments, participants studied colored tags on a horizontally or vertically oriented board within a virtual room and recalled these locations with different layout orientations (Exp. 1) or from different room-based perspectives (Exps. 2 and 3). All experiments revealed evidence for equal recall performance in horizontal and vertical memory. In addition, the patterns for recall from different test orientations were rather similar. Consequently, our results suggest that memory is qualitatively similar for both vertical and horizontal two-dimensional locations, given that these locations are learned from a single viewpoint. Thus, prior differences in spatial memory may have originated from the structure of the space or the fact that participants navigated through it. Additionally, the strong performance advantages for perspective shifts (Exps. 2 and 3) relative to layout rotations (Exp. 1) suggest that configurational judgments are not only based on memory of the relations between target objects, but also encompass the relations between target objects and the surrounding room—for example, in the form of a memorized view.

Sex differences and errors in the use of terrain slope for navigation

Unlike most of the spatial cues that have received attention, a sloping terrain can be perceived by multimodal sensory inputs (vision, balance, and kinesthesia), making it potentially very salient for navigation. Furthermore, a homogeneous slope can be used like a compass to identify directions (e.g., uphill, downhill, and sideways), but not to determine distances. We briefly review recent evidence on navigation with slope, emphasizing two main findings. On the one hand, we focus on the conspicuous sex difference found in the ability to localize a target in a square, tilted enclosure; this has emerged in human adults and children, and we suggest that it is related to lower awareness of the slope for females. On the other hand, we describe the general pattern of errors that arises when localizing the target during the task; these errors indicate the use of a bi-coordinate representation of the slope. Limitations and ideas for future studies are proposed.

A slippery directional slope: Individual differences in using slope as a directional cue

Navigators rely on many different types of cues to build representations of large-scale spaces. Sloped terrain is an important cue that has received recent attention in comparative and human spatial research. However, the studies to date have been unable to determine how directional slope information leads to more accurate spatial representations. Moreover, whereas some studies have shown that the inclusion of slope cues improves performance on spatial tasks across participants (Kelly, 2011; Restat, Steck, Mochnatzki, & Mallot, 2004), other research has suggested individual differences in the benefits of slope cues (Chai & Jacobs, 2010; Nardi, Newcombe, & Shipley, 2011). We sought to clarify the role of sloped terrain in improving the representation of large-scale environments. In Experiment 1, participants learned the layout of buildings in one of two desktop virtual environments: either a directionally sloped terrain or a completely flat one. Participants in the sloped environment outperformed those in the flat environment. However, participants used slope information as an additional cue, rather than as a preferred reference direction. In Experiment 2, the two virtual environments were again either flat or sloped, but we increased the complexity of the relations between the slope and the path. In this experiment, better performance in the sloped environment was only seen for participants with good self-reported senses of direction. Taken together, the studies show that slope provides useful information for building environmental representations in simple cases, but that individual differences emerge in more complex situations. We suggest that good and bad navigators use different navigational strategies.

EEG correlates of spatial orientation in the human retrosplenial complex

Studies on spatial navigation reliably demonstrate that the retrosplenial complex (RSC) plays a pivotal role for allocentric spatial information processing by transforming egocentric and allocentric spatial information into the respective other spatial reference frame (SRF). While more and more imaging studies investigate the role of the RSC in spatial tasks, high temporal resolution measures such as electroencephalography (EEG) are missing. To investigate the function of the RSC in spatial navigation with high temporal resolution we used EEG to analyze spectral perturbations during navigation based on allocentric and egocentric SRF. Participants performed a path integration task in a clearly structured virtual environment providing allothetic information. Continuous EEG recordings were decomposed by independent component analysis (ICA) with subsequent source reconstruction of independent time source series using equivalent dipole modeling. Time-frequency transformation was used to investigate reference frame-specific orientation processes during navigation as compared to a control condition with identical visual input but no orientation task. Our results demonstrate that navigation based on an egocentric reference frame recruited a network including the parietal, motor, and occipital cortices with dominant perturbations in the alpha band and theta modulation in frontal cortex. Allocentric navigation was accompanied by performance-related desynchronization of the 8-13 Hz frequency band and synchronization in the 12-14 Hz band in the RSC. The results support the claim that the retrosplenial complex is central to translating egocentric spatial information into allocentric reference frames. Modulations in different frequencies with different time courses in the RSC further provide first evidence of two distinct neural processes reflecting translation of spatial information based on distinct reference frames and the computation of heading changes.

Where is uphill? Exploring sex differences when reorienting on a sloped environment presented through 2-D images

One of the spatial abilities that has recently revealed a remarkable variability in performance is that of using terrain slope to reorient. Previous studies have shown a very large disadvantage for females when the slope of the floor is the only information useful for encoding a goal location. However, the source of this sex difference is still unclear. The slope of the environment provides a directional source of information that is perceived through dissociable visual and kinesthetic sensory modalities. Here we focused on the visual information, and examined whether there are sex differences in the perception of a slope presented through 2-D images with a desktop computer connected to an eye-tracking device. Participants had to identify and point to the uphill direction by looking at different orientations of two virtual, slanted environments (one indoor and one outdoor). Men were quicker and more accurate than women, indicating that the female difficulty with slope emerges at an early, unisensory, perceptual level. However, the eye-tracking data revealed no sex differences in the slope cues used, providing no support to the hypothesis of sex-specific, visual-processing strategies. Interestingly, performance correlated with a test of mental rotation, and we speculate that the disadvantage in mental rotation ability might be an important factor responsible for females' difficulty using slope.

Navigating in a three-dimensional world

The study of spatial cognition has provided considerable insight into how animals (including humans) navigate on the horizontal plane. However, the real world is three-dimensional, having a complex topography including both horizontal and vertical features, which presents additional challenges for representation and navigation. The present article reviews the emerging behavioral and neurobiological literature on spatial cognition in non-horizontal environments. We suggest that three-dimensional spaces are represented in a quasi-planar fashion, with space in the plane of locomotion being computed separately and represented differently from space in the orthogonal axis - a representational structure we have termed "bicoded." We argue that the mammalian spatial representation in surface-travelling animals comprises a mosaic of these locally planar fragments, rather than a fully integrated volumetric map. More generally, this may be true even for species that can move freely in all three dimensions, such as birds and fish. We outline the evidence supporting this view, together with the adaptive advantages of such a scheme.

Reorienting with terrain slope and landmarks

Orientation (or reorientation) is the first step in navigation, because establishing a spatial frame of reference is essential for a sense of location and heading direction. Recent research on nonhuman animals has revealed that the vertical component of an environment provides an important source of spatial information, in both terrestrial and aquatic settings. Nonetheless, humans show large individual and sex differences in the ability to use terrain slope for reorientation. To understand why some participants--mainly women--exhibit a difficulty with slope, we tested reorientation in a richer environment than had been used previously, including both a tilted floor and a set of distinct objects that could be used as landmarks. This environment allowed for the use of two different strategies for solving the task, one based on directional cues (slope gradient) and one based on positional cues (landmarks). Overall, rather than using both cues, participants tended to focus on just one. Although men and women did not differ significantly in their encoding of or reliance on the two strategies, men showed greater confidence in solving the reorientation task. These facts suggest that one possible cause of the female difficulty with slope might be a generally lower spatial confidence during reorientation.

Three-dimensional space: locomotory style explains memory differences in rats and hummingbirds

While most animals live in a three-dimensional world, they move through it to different extents depending on their mode of locomotion: terrestrial animals move vertically less than do swimming and flying animals. As nearly everything we know about how animals learn and remember locations in space comes from two-dimensional experiments in the horizontal plane, here we determined whether the use of three-dimensional space by a terrestrial and a flying animal was correlated with memory for a rewarded location. In the cubic mazes in which we trained and tested rats and hummingbirds, rats moved more vertically than horizontally, whereas hummingbirds moved equally in the three dimensions. Consistent with their movement preferences, rats were more accurate in relocating the horizontal component of a rewarded location than they were in the vertical component. Hummingbirds, however, were more accurate in the vertical dimension than they were in the horizontal, a result that cannot be explained by their use of space. Either as a result of evolution or ontogeny, it appears that birds and rats prioritize horizontal versus vertical components differently when they remember three-dimensional space.

Are all types of vertical information created equal?

The vertical component of space occurs in two distinct fashions in natural environments. One kind of verticality is orthogonal-to-horizontal (as in climbing trees, operating in volumetric spaces such as water or air, or taking elevators in multilevel buildings). Another kind of verticality, which might be functionally distinct, comes from navigating on sloped terrain (as in traversing hills or ramps).

Does terrain slope really dominate goal searching?

If you can locate a target by using one reliable source of information, why would you use an unreliable one? A similar question has been faced in a recent study on homing pigeons, in which, despite the presence of better predictors of the goal location, the slope of the floor in an arena dominated the searching process. This piece of evidence seems to contradict straightforward accounts of associative learning, according to which behavior should be controlled by the stimulus that best predicts the reward, and has fueled interest toward one question that, to date, has received scarce attention in the field of spatial cognition: how are vertical spaces represented? The purpose of this communication is to briefly review the studies on this issue, trying to determine whether slope is a special cue--driving behavior irrespective of other cues--or simply a very salient one.

Horizontal biases in rats' use of three-dimensional space

Rodent spatial cognition studies allow links to be made between neural and behavioural phenomena, and much is now known about the encoding and use of horizontal space. However, the real world is three dimensional, providing cognitive challenges that have yet to be explored. Motivated by neural findings suggesting weaker encoding of vertical than horizontal space, we examined whether rats show a similar behavioural anisotropy when distributing their time freely between vertical and horizontal movements. We found that in two- or three-dimensional environments with a vertical dimension, rats showed a prioritization of horizontal over vertical movements in both foraging and detour tasks. In the foraging tasks, the animals executed more horizontal than vertical movements and adopted a "layer strategy" in which food was collected from one horizontal level before moving to the next. In the detour tasks, rats preferred the routes that allowed them to execute the horizontal leg first. We suggest three possible reasons for this behavioural bias. First, as suggested by Grobety and Schenk, it allows minimisation of energy expenditure, inasmuch as costly vertical movements are minimised. Second, it may be a manifestation of the temporal discounting of effort, in which animals value delayed effort as less costly than immediate effort. Finally, it may be that at the neural level rats encode the vertical dimension less precisely, and thus prefer to bias their movements in the more accurately encoded horizontal dimension. We suggest that all three factors are related, and all play a part.

Effects of cue types on sex differences in human spatial memory

We examined the effects of cue types on human spatial memory in 3D virtual environments adapted from classical animal and human tasks. Two classes of cues of different functions were investigated: those that provide directional information, and those that provide positional information. Adding a directional cue (geographical slant) to the spatial delayed-match-to-sample task improved performance in males but not in females. When the slant directional cue was removed in a hidden-target location task, male performance was impaired but female performance was unaffected. The removal of positional cues, on the other hand, impaired female performance but not male performance. These results are consistent with results from laboratory rodents and thus support the hypothesis that sex differences in spatial memory arise from the dissociation between a preferential reliance on directional cues in males and on positional cues in females.

A role for terrain slope in orienting hippocampal place fields

The three-dimensional topography of the environment is a potentially important source of orienting information for animals, but little is known about how such features affect either navigational behaviour or the neural representation of place. One component of the neural place representation comprises the hippocampal place cells, which show location-specific firing that can be oriented by directional cues in the environment. The present study investigated whether a simple topographical feature, terrain slope, could provide such orienting information to place cells. Place cells were recorded as rats explored a tilted (30 degrees) square box located in the centre of a dark, curtained and visually symmetrical circular enclosure. The orientation of the tilted surface was varied, first in conjunction with that of a visible cue card (to stabilise the system) and then in the absence of the cue card, when the slope of the box was the only remaining stable polarising cue in the environment. In the latter condition, place fields continued to be reliably oriented by the slope. Thus, terrain slope provides sufficient orienting information to set and probably maintain the orientation of the hippocampal place system. This may explain previous behavioural observations that spatial orientation is improved when slope information is available.