From biokinematics to a robotic active vision system

Are owls technically capable of making a full head turn?

The three-dimensional configuration of the neck that produces extreme head turn in owls was studied using the Joint Coordinate System. The limits of planar axial rotation (AR), lateral, and sagittal bending in each vertebral joint were measured. They are not extraordinary among birds, except probably for the extended ability for AR. The vertebral joint angles involved in the 360° head turn do not generally exceed the limits of planar mobility. Rotation in one plane does not expand the range of motion in the other, with one probable exception being extended dorsal bending in the middle of the neck. Therefore, the extreme 360° head turn can be presented as a simple combination of the three planar motions in the neck joints. Surprisingly, certain joints are always laterally bent or axially rotated to the opposite side than the head was turned. This allows keeping the anterior part of the neck parallel to the thoracic spine, which probably helps preserve the ability for peering head motions throughout the full head turn. The potential ability of one-joint muscles of the owl neck, the mm. intertransversarii, to ensure the 360° head turn was addressed. It was shown that the 360° head turn does not require these muscles to shorten beyond the known contraction limit of striated vertebrate muscles. Shortening by 50% or less is enough for the mm. intertransversarii in the middle neck region for the 360° head turn. This study has broad implications for further research on vertebral mobility and function in a variety of tetrapods, providing a new method for CT scan-based measurement of intervertebral angles.

Self-motion trajectories can facilitate orientation-based figure-ground segregation

Segregation of objects from the background is a basic and essential property of the visual system. We studied the neural detection of objects defined by orientation difference from background in barn owls (Tyto alba). We presented wide-field displays of densely packed stripes with a dominant orientation. Visual objects were created by orienting a circular patch differently from the background. In head-fixed conditions, neurons in both tecto- and thalamofugal visual pathways (optic tectum and visual Wulst) were weakly responsive to these objects in their receptive fields. However, notably, in freely viewing conditions, barn owls occasionally perform peculiar side-to-side head motions (peering) when scanning the environment. In the second part of the study we thus recorded the neural response from head-fixed owls while the visual displays replicated the peering conditions; i.e., the displays (objects and backgrounds) were shifted along trajectories that induced a retinal motion identical to sampled peering motions during viewing of a static object. These conditions induced dramatic neural responses to the objects, in the very same neurons that where unresponsive to the objects in static displays. By reverting to circular motions of the display, we show that the pattern of the neural response is mostly shaped by the orientation of the background relative to motion and not the orientation of the object. Thus our findings provide evidence that peering and/or other self-motions can facilitate orientation-based figure-ground segregation through interaction with inhibition from the surround.NEW & NOTEWORTHY Animals frequently move their sensory organs and thereby create motion cues that can enhance object segregation from background. We address a special example of such active sensing, in barn owls. When scanning the environment, barn owls occasionally perform small-amplitude side-to-side head movements called peering. We show that the visual outcome of such peering movements elicit neural detection of objects that are rotated from the dominant orientation of the background scene and which are otherwise mostly undetected. These results suggest a novel role for self-motions in sensing objects that break the regular orientation of elements in the scene.