Can invertebrates see the e-vector of polarization as a separate modality of light?

Passive Polarized Vision for Autonomous Vehicles: A Review

This review article aims to address common research questions in passive polarized vision for robotics. What kind of polarization sensing can we embed into robots? Can we find our geolocation and true north heading by detecting light scattering from the sky as animals do? How should polarization images be related to the physical properties of reflecting surfaces in the context of scene understanding? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying future directions in passive polarized vision for robotics. After an introduction, three key interconnected areas will be covered in the following sections: embedded polarization imaging; polarized vision for robotics navigation; and polarized vision for scene understanding. We will then discuss how polarized vision, a type of vision commonly used in the animal kingdom, should be implemented in robotics; this type of vision has not yet been exploited in robotics service. Passive polarized vision could be a supplemental perceptive modality of localization techniques to complement and reinforce more conventional ones.

Polarisation vision in the dark: green-sensitive photoreceptors in the nocturnal ball-rolling dung beetle Escarabaeus satyrus

Many insects utilise the polarisation pattern of the sky to adjust their travelling directions. The extraction of directional information from this sky-wide cue is mediated by specialised photoreceptors located in the dorsal rim area (DRA). While this part of the eye is known to be sensitive to the ultraviolet, blue or green component of skylight, the latter has only been observed in insects active in dim light. To address the functional significance of green polarisation sensitivity, we define the spectral and morphological adaptations of the DRA in a nocturnal ball-rolling dung beetle-the only family of insects demonstrated to orient to the dim polarisation pattern in the night sky. Intracellular recordings revealed polarisation-sensitive green photoreceptors in the DRA of Escarabaeus satyrus. Behavioural experiments verified the navigational relevance of this finding. To quantify the adaptive value of green sensitivity for celestial orientation at night, we also obtained the polarisation properties of the night sky in the natural habitat of the beetle. Calculations of relative photon catch revealed that under a moonlit sky the green-sensitive DRA photoreceptors can be expected to catch an order of magnitude more photons compared with the UV-sensitive photoreceptors in the main retina. The green-sensitive photoreceptors - which also show a range of morphological adaptations for enhanced sensitivity - provide E. satyrus with a highly sensitive system for the extraction of directional information from the night sky.

Image-based polarization detection and material recognition

We demonstrate a single-shot and image-based polarization detection system for material recognition. The Stokes parameters are measured under a single-shot measurement using 4 electrically tunable liquid crystal wave plates, 4 polarizers, and 4 camera modules. The optical principle is introduced and the experiments are performed. We also use a metallic plate and a glass substrate to demonstrate the material recognition. The impact of this study is to provide a practical way in image-based polarization detection in Advanced Driver Assistance Systems for material recognition which could help in driving safety.

The vertical light-gradient and its potential impact on animal distribution and behavior

The visual environment provides vital cues allowing animals to assess habitat quality, weather conditions or measure time of day. Together with other sensory cues and physiological conditions, the visual environment sets behavioral states that make the animal more prone to engage in some behaviors, and less in others. This master-control of behavior serves a fundamental and essential role in determining the distribution and behavior of all animals. Although it is obvious that visual information contains vital input for setting behavioral states, the precise nature of these visual cues remains unknown. Here we use a recently described method to quantify the distribution of light reaching animals’ eyes in different environments. The method records the vertical gradient (as a function of elevation angle) of intensity, spatial structure and spectral balance. Comparison of measurements from different types of environments, weather conditions, times of day, and seasons reveal that these aspects can be readily discriminated from one another. The vertical gradients of radiance, spatial structure (contrast) and color are thus reliable indicators that are likely to have a strong impact on animal behavior and spatial distribution.

Generating spatiotemporal patterns of linearly polarised light at high frame rates for insect vision research

Polarisation vision is commonplace among invertebrates; however, most experiments focus on determining behavioural and/or neurophysiological responses to static polarised light sources rather than moving patterns of polarised light. To address the latter, we designed a polarisation stimulation device based on superimposing polarised and non-polarised images from two projectors, which can display moving patterns at frame rates exceeding invertebrate flicker fusion frequencies. A linear polariser fitted to one projector enables moving patterns of polarised light to be displayed, whilst the other projector contributes arbitrary intensities of non-polarised light to yield moving patterns with a defined polarisation and intensity contrast. To test the device, we measured receptive fields of polarisation-sensitive Argynnis paphia butterfly photoreceptors for both non-polarised and polarised light. We then measured local motion sensitivities of the optic flow-sensitive lobula plate tangential cell H1 in Calliphora vicina blowflies under both polarised and non-polarised light, finding no polarisation sensitivity in this neuron.

Summary: Design of a versatile visual stimulation device for presenting moving patterns of polarised light, and demonstration of its use to characterise polarisation sensitivity in butterfly photoreceptors and blowfly motion-sensitive interneurons.

Polarized light sun position determination artificial neural network

Our previous work has constructed a polarized light orientation determination (PLOD) artificial neural network. Although a PLOD network can determine the solar azimuth angle, it cannot determine the solar elevation angle. Therefore, this paper proposes an artificial neural network for polarized light solar position determination (PLSPD), which has two branches: the solar azimuth angle determination branch and the solar elevation angle determination branch. Since the solar elevation angle has no cyclic characteristics, and the angle range of the solar elevation angle is different from that of the solar azimuth angle, the solar elevation angle exponential function encoding is redesigned. In addition, compared with the PLOD, the PLSPD deletes a local full connection layer to simplify the network structure. The experimental results show that the PLSPD can determine not only the solar azimuth angle but also the solar elevation angle, and the solar azimuth angle determination accuracy of the PLSPD is higher than that of the PLOD.

Angular dependence of polarisation contrast sensitivity in octopus

Cephalopod photoreceptors are polarisation-sensitive, giving them an ability to discriminate between lights of different angle and degree of polarisation. While colour vision is achieved by comparison of signals of photoreceptors tuned to different parts of light spectra, polarisation vision is achieved by comparison of signals of photoreceptors tuned to different orientations of e-vector. Therefore, from a theoretical point of view, polarisation vision is similar to colour vision. In particular, detection of polarised light against an unpolarised background is analogous to detection of chromatic light against grey. The dependence of polarisation contrast sensitivity on the angle of polarisation can be theoretically predicted using a receptor noise limited model in much the same way as it has been done for predicting the shape of the increment threshold spectral sensitivity in animals with colour vision. Here we report angular dependence of polarisation contrast sensitivity in octopus (O. tetricus, Gould 1852) and compare the theoretical predictions of polarisation contrast with the experimental results. Polarisation gratings were generated using LCD screens with removed polarisers and the orientation of polarisation was changed by rotating the screen. Reaction to the stimulus was recorded using a fixation reflex. We show that, in agreement with the theoretical predictions, the maximum contrast sensitivity is achieved at horizontal and vertical orientations of polarisation. Our results demonstrate that the dependence of polarisation contrast sensitivity on the angle of polarisation can be analysed in the same way as the dependence of colour thresholds on wavelength of monochromatic light added to a grey background.

In situ measurements of reef squid polarization patterns using two-dimensional polarization data mapped onto three-dimensional tessellated surfaces

Reef squids belong to a group reputed for polarization sensitivity, yet polarization patterns of reef squid have not been quantified in situ. To quantify polarization patterns from video polarimetric data, we developed a protocol to map two-dimensional polarization data onto squid-shaped three-dimensional tessellated surfaces. This protocol provided a robust data container used to investigate three-dimensional regions-of-interest, producing data lineouts derived from the squid's geometry. This protocol also extracted polarimeter and squid body orientations and the solar heading from polarization images. When averaged over the solar heading, the ventral midline gave a low degree of polarization (2.4 ± 5.3%), and the area between the ventral and flank midlines had higher values (9.0 ± 5.3%). These averaged data had a large discontinuity in the angle of polarization (AoP) at the mantle's ventral midline (64 ± 55°), with larger discontinuities measured on individual squid. Ray-tracing calculations demonstrated that the AoP pattern was not related to the squid's surface-normal geometry. However, the AoP followed virtual striation axes on the squid's surface oriented 24° to the squid's long axis, similar in angle (27°) to the striations of birefringent collagen fibres documented in other squid species' skin.

Swallowtail Butterflies Use Multiple Visual Cues to Select Oviposition Sites

Simple Summary

Butterflies must not only identify host plants on which to lay their eggs—which they achieve using chemical cues—but also select suitable leaves on that plant that will support the growth of their larval offspring. Here, we asked whether swallowtail butterflies lay eggs on particular leaves of a Citrus tree and, if so, which cues they use to select the leaves. We first observed that butterflies indeed select just a few leaves on which to lay eggs. These leaf preferences were observed across many individuals, implying that they were not idiosyncratic, and the butterflies descended directly towards the leaves from some distance, suggesting that they were using visual rather than chemical cues. We then investigated which visual cues are used by the butterflies, and found that the number of eggs laid upon a leaf was correlated with its height on the tree, flatness, green reflectance, brightness, and degree of polarization. These five features may be important both for selecting young leaves and those which are situated well for egg-laying. An outstanding question for future study is how visual and chemical cues interact in this context.

Abstract

Flower-foraging Japanese yellow swallowtail butterflies, Papilio xuthus, exhibit sophisticated visual abilities. When ovipositing, females presumably attempt to select suitable leaves to support the growth of their larval offspring. We first established that butterflies indeed select particular leaves on which to lay eggs; when presented with a single Citrus tree, butterflies significantly favored two out of 102 leaves for oviposition. These preferences were observed across many individuals, implying that they were not merely idiosyncratic, but rather based on properties of the leaves in question. Because the butterflies descended towards the leaves rather directly from a distance, we hypothesized that they base their selection on visual cues. We measured five morphological properties (height, orientation, flatness, roundness, and size) and four reflective features (green reflectance, brightness, and degree and angle of linear polarization). We found that the number of eggs laid upon a leaf was positively correlated with its height, flatness, green reflectance, and brightness, and negatively correlated with its degree of polarization, indicating that these features may serve as cues for leaf selection. Considering that other studies report ovipositing butterflies’ preference for green color and horizontally polarized light, butterflies likely use multiple visual features to select egg-laying sites on the host plant.

The wing scales of the mother-of-pearl butterfly, Protogoniomorpha parhassus, are thin film reflectors causing strong iridescence and polarization

The dorsal wings of the mother-of-pearl butterfly, Protogoniomorpha parhassus, display an angle-dependent pink, structural color. This effect is created by light interference in the lower lamina of the wing scales, which acts as an optical thin film. The scales feature extremely large windows that enhance the scale reflectance, because the upper lamina of ridges and cross-ribs is very sparse. Characteristic for thin film reflectors, the spectral shape of the reflected light strongly depends on the angle of light incidence, shifting from pink to yellow when changing the angles of illumination and observation from normal to skew, and also the degree of polarization strongly varies. The simultaneous spectral and polarization changes serve a possibly widespread, highly effective system among butterflies for intraspecific communication during flight.

Summary: The dorsal wings of the mother-of-pearl butterfly, Protogoniomorpha parhassus, show characteristics of thin film reflectors, allowing simultaneous spectral and polarization changes, which may be important in intraspecific communication.

Enhanced polarotaxis can explain water-entry behaviour of mantids infected with nematomorph parasites

A wide range of parasites manipulate the behaviours of their hosts in order to complete their life cycle¹. Alteration of phototaxis is thought to be involved in host manipulation in many cases^2,3. However, very little is known about what features of the light (intensity, spectrum, polarization) alter behaviour. Here we report that arboreal mantids (Hierodula patellifera) infected by nematomorph parasites (Chordodes sp.) are attracted to horizontally polarized light, which could induce the mantids to enter water, where the parasites can then emerge and reproduce. In a two-choice test, infected mantids were attracted to horizontally but not vertically polarized light. Uninfected mantids were not attracted to either. In a field experiment, 14 infected mantids entered a deep pool, where the water surface strongly reflected horizontally polarized light. By contrast, only two mantids entered a shallow pool, where the surface reflection had higher light intensity but weaker polarization. To our knowledge, this is the first study demonstrating that a manipulative parasite can take advantage of its hosts' ability to perceive polarized light stimuli to alter host behaviour. VIDEO ABSTRACT.

Thresholds of polarization vision in octopuses

Polarization vision is widespread in nature, mainly among invertebrates, and is used for a range of tasks including navigation, habitat localization and communication. In marine environments, some species such as those from the Crustacea and Cephalopoda that are principally monochromatic, have evolved to use this adaptation to discriminate objects across the whole visual field, an ability similar to our own use of colour vision. The performance of these polarization vision systems varies, and the few cephalopod species tested so far have notably acute thresholds of discrimination. However, most studies to date have used artificial sources of polarized light that produce levels of polarization much higher than found in nature. In this study, the ability of octopuses to detect polarization contrasts varying in angle of polarization (AoP) was investigated over a range of different degrees of linear polarization (DoLP) to better judge their visual ability in more ecologically relevant conditions. The ‘just-noticeable-differences’ (JND) of AoP contrasts varied consistently with DoLP. These JND thresholds could be largely explained by their ‘polarization distance’, a neurophysical model that effectively calculates the level of activity in opposing horizontally and vertically oriented polarization channels in the cephalopod visual system. Imaging polarimetry from the animals’ natural environment was then used to illustrate the functional advantage that these polarization thresholds may confer in behaviourally relevant contexts.

Summary: Octopuses are highly sensitive to small changes in the angle of polarization (<1 deg contrast), even when the degree of polarization is low, which may confer a functional advantage in behaviourally relevant contexts.

A visual pathway for skylight polarization processing in Drosophila

Many insects use patterns of polarized light in the sky to orient and navigate. Here, we functionally characterize neural circuitry in the fruit fly, Drosophila melanogaster, that conveys polarized light signals from the eye to the central complex, a brain region essential for the fly's sense of direction. Neurons tuned to the angle of polarization of ultraviolet light are found throughout the anterior visual pathway, connecting the optic lobes with the central complex via the anterior optic tubercle and bulb, in a homologous organization to the 'sky compass' pathways described in other insects. We detail how a consistent, map-like organization of neural tunings in the peripheral visual system is transformed into a reduced representation suited to flexible processing in the central brain. This study identifies computational motifs of the transformation, enabling mechanistic comparisons of multisensory integration and central processing for navigation in the brains of insects.

Two chiral types of randomly rotated ommatidia are distributed across the retina of the flathead oak borer Coraebus undatus (Coleoptera: Buprestidae)

Jewel beetles are colorful insects, which use vision to recognize their conspecifics and can be lured with colored traps. We investigated the retina and coloration of one member of this family, the flathead oak borer Coraebus undatus using microscopy, spectrometry, polarimetry, electroretinography and intracellular recordings of photoreceptor cell responses. The compound eyes are built of a highly unusual mosaic of mirror-symmetric or chiral ommatidia that are randomly rotated along the body axes. Each ommatidium has eight photoreceptors, two of them having rhabdomeres in tiers. The eyes contain six spectral classes of photoreceptors, peaking in the UV, blue, green and red. Most photoreceptors have moderate polarization sensitivity with randomly distributed angular maxima. The beetles have the necessary retinal substrate for complex color vision, required to recognize conspecifics and suitable for a targeted design of color traps. However, the jewel beetle array of freely rotated ommatidia is very different from the ordered mosaic in insects that have object-directed polarization vision. We propose that ommatidial rotation enables the cancelling out of polarization signals, thus allowing stable color vision, similar to the rhabdomeric twist in the eyes of flies and honeybees.

Spatial Contrast Sensitivity to Polarization and Luminance in Octopus

While color vision is achieved by comparison of signals of photoreceptors tuned to different parts of light spectra, polarization vision is achieved by comparison of signals of photoreceptors tuned to different orientations of the electric field component of visible light. Therefore, it has been suggested that polarization vision is similar to color vision. In most animals that have color vision, the shape of luminance contrast sensitivity curve differs from the shape of chromatic contrast sensitivity curve. While luminance contrast sensitivity typically decreases at low spatial frequency due to lateral inhibition, chromatic contrast sensitivity generally remains high at low spatial frequency. To find out if the processing of polarization signals is similar to the processing of chromatic signals, we measured the polarization and luminance contrast sensitivity dependence in a color-blind animal with well-developed polarization vision, Octopus tetricus. We demonstrate that, in Octopus tetricus, both luminance and polarization contrast sensitivity decrease at low spatial frequency and peak at the same spatial frequency (0.3 cpd). These results suggest that, in octopus, polarization and luminance signals are processed via similar pathways.

Von Uexküll Revisited: Addressing Human Biases in the Study of Animal Perception

More than 100 years ago, the biologist Jakob von Uexküll suggested that, because sensory systems are diverse, animals likely inhabit different sensory worlds (umwelten) than we do. Since von Uexküll, work across sensory modalities has confirmed that animals sometimes perceive sensory information that humans cannot, and it is now well-established that one must account for this fact when studying an animal's behavior. We are less adept, however, at recognizing cases in which non-human animals may not detect or perceive stimuli the same way we do, which is our focus here. In particular, we discuss three ways in which our own perception can result in misinformed hypotheses about the function of various stimuli. In particular, we may (1) make untested assumptions about how sensory information is perceived, based on how we perceive or measure it, (2) attribute undue significance to stimuli that we perceive as complex or striking, and (3) assume that animals divide the sensory world in the same way that we as scientists do. We discuss each of these biases and provide examples of cases where animals cannot perceive or are not attending to stimuli in the same way that we do, and how this may lead us to mistaken assumptions. Because what an animal perceives affects its behavior, we argue that these biases are especially important for researchers in sensory ecology, cognition, and animal behavior and communication to consider. We suggest that studying animal umwelten requires integrative approaches that combine knowledge of sensory physiology with behavioral assays.

Polarization of foliar reflectance: novel host plant cue for insect herbivores

Insect herbivores exploit plant cues to discern host and non-host plants. Studies of visual plant cues have focused on colour despite the inherent polarization sensitivity of insect photoreceptors and the information carried by polarization of foliar reflectance, most notably the degree of linear polarization (DoLP; 0-100%). The DoLP of foliar reflection was hypothesized to be a host plant cue for insects but was never experimentally tested. Here, we show that cabbage white butterflies, Pieris rapae (Pieridae), exploit the DoLP of foliar reflections to discriminate among plants. In experiments with paired digital plant images, P. rapae females preferred images of the host plant cabbage with a low DoLP (31%) characteristic of cabbage foliage over images of a non-host potato plant with a higher DoLP (50%). By reversing the DoLP of these images, we were able to shift the butterflies' preference for the cabbage host plant image to the potato non-host plant image, indicating that the DoLP had a greater effect on foraging decisions than the differential colour, intensity, or shape of the two plant images. Although previously not recognized, the DoLP of foliar reflection is an essential plant cue that may commonly be exploited by foraging insect herbivores.

Parallel processing of polarization and intensity information in fiddler crab vision

Many crustaceans are sensitive to the polarization of light and use this information for object-based visually guided behaviors. For these tasks, it is unknown whether polarization and intensity information are integrated into a single-contrast channel, whereby polarization directly contributes to perceived intensity, or whether they are processed separately and in parallel. Using a novel type of visual display that allowed polarization and intensity properties of visual stimuli to be adjusted independently and simultaneously, we conducted behavioral experiments with fiddler crabs to test which of these two models of visual processing occurs. We found that, for a loom detection task, fiddler crabs process polarization and intensity information independently and in parallel. The crab's response depended on whichever contrast was the most salient. By contributing independent measures of visual contrast, polarization and intensity provide a greater range of detectable contrast information for the receiver, increasing the chance of detecting a potential threat.

From skylight input to behavioural output: A computational model of the insect polarised light compass

Many insects navigate by integrating the distances and directions travelled on an outward path, allowing direct return to the starting point. Fundamental to the reliability of this process is the use of a neural compass based on external celestial cues. Here we examine how such compass information could be reliably computed by the insect brain, given realistic constraints on the sky polarisation pattern and the insect eye sensor array. By processing the degree of polarisation in different directions for different parts of the sky, our model can directly estimate the solar azimuth and also infer the confidence of the estimate. We introduce a method to correct for tilting of the sensor array, as might be caused by travel over uneven terrain. We also show that the confidence can be used to approximate the change in sun position over time, allowing the compass to remain fixed with respect to 'true north' during long excursions. We demonstrate that the compass is robust to disturbances and can be effectively used as input to an existing neural model of insect path integration. We discuss the plausibility of our model to be mapped to known neural circuits, and to be implemented for robot navigation.

Polarisation signals: a new currency for communication

Most polarisation vision studies reveal elegant examples of how animals, mainly the invertebrates, use polarised light cues for navigation, course-control or habitat selection. Within the past two decades it has been recognised that polarised light, reflected, blocked or transmitted by some animal and plant tissues, may also provide signals that are received or sent between or within species. Much as animals use colour and colour signalling in behaviour and survival, other species additionally make use of polarisation signalling, or indeed may rely on polarisation-based signals instead. It is possible that the degree (or percentage) of polarisation provides a more reliable currency of information than the angle or orientation of the polarised light electric vector (e-vector). Alternatively, signals with specific e-vector angles may be important for some behaviours. Mixed messages, making use of polarisation and colour signals, also exist. While our knowledge of the physics of polarised reflections and sensory systems has increased, the observational and behavioural biology side of the story needs more (and more careful) attention. This Review aims to critically examine recent ideas and findings, and suggests ways forward to reveal the use of light that we cannot see.

Celestial navigation in Drosophila

Many casual observers typecast Drosophila melanogaster as a stationary pest that lurks around fruit and wine. However, the omnipresent fruit fly, which thrives even in desert habitats, likely established and maintained its cosmopolitan status via migration over large spatial scales. To perform long-distance dispersal, flies must actively maintain a straight compass heading through the use of external orientation cues, such as those derived from the sky. In this Review, we address how D. melanogaster accomplishes long-distance navigation using celestial cues. We focus on behavioral and physiological studies indicating that fruit flies can navigate both to a pattern of linearly polarized light and to the position of the sun - the same cues utilized by more heralded insect navigators such as monarch butterflies and desert ants. In both cases, fruit flies perform menotaxis, selecting seemingly arbitrary headings that they then maintain over time. We discuss how the fly's nervous system detects and processes this sensory information to direct the steering maneuvers that underlie navigation. In particular, we highlight recent findings that compass neurons in the central complex, a set of midline neuropils, are essential for navigation. Taken together, these results suggest that fruit flies share an ancient, latent capacity for celestial navigation with other insects. Furthermore, they illustrate the potential of D. melanogaster to help us to elucidate both the cellular basis of navigation and mechanisms of directed dispersal on a landscape scale.

Color polarization vision mediates the strength of an evolutionary trap

Evolutionary traps are scenarios in which animals are fooled by rapidly changing conditions into preferring poor-quality resources over those that better improve survival and reproductive success. The maladaptive attraction of aquatic insects to artificial sources of horizontally polarized light (e.g., glass buildings, asphalt roads) has become a first model system by which scientists can investigate the behavioral mechanisms that cause traps to occur. We employ this field-based system to experimentally investigate (a) in which portion(s) of the spectrum are polarizationally water-imitating reflectors attractive to nocturnal terrestrial and aquatics insects, and (b) which modern lamp types result in greater attraction in this typical kind of nocturnal polarized light pollution. We found that most aquatic taxa exhibited preferences for lamps based upon their color spectra, most having lowest preference for lamps emitting blue and red light. Yet, despite previously established preference for higher degrees of polarization of reflected light, most aquatic insect families were attracted to traps based upon their unpolarized spectrum. Chironomid midges, alone, showed a preference for the color of lamplight in both the horizontally polarized and unpolarized spectra indicating only this family has evolved to use light in this color range as a source of information to guide its nocturnal habitat selection. These results demonstrate that the color of artificial lighting can exacerbate or reduce its attractiveness to aquatic insects, but that the strength of attractiveness of nocturnal evolutionary traps, and so their demographic consequences, is primarily driven by unpolarized light pollution. This focuses management attention on limiting broad-spectrum light pollution, as well as its intentional deployment to attract insects back to natural habitats.

Swimming behaviour tunes fish polarization vision to double prey sighting distance

The analysis of the polarization of light expands vision beyond the realm of colour and intensity and is used for multiple ecological purposes among invertebrates including orientation, object recognition, and communication. How vertebrates use polarization vision as part of natural behaviours is widely unknown. In this study, I tested the hypothesis that polarization vision improves the detection of zooplankton prey by the northern anchovy, Engraulis mordax, the only vertebrate with a demonstrated photoreceptor basis explaining its polarization sensitivity. Juvenile anchovies were recorded free foraging on zooplankton under downwelling light fields of varying percent polarization (98%, 67%, 19%, and 0% - unpolarized light). Analyses of prey attack sequences showed that anchovies swam in the horizontal plane perpendicular, on average, to the polarization direction of downwelling light and attacked prey at pitch angles that maximized polarization contrast perception of prey by the ventro-temporal retina, the area devoted to polarization vision in this animal. Consequently, the mean prey location distance under polarized light was up to 2.1 times that under unpolarized conditions. All indicators of polarization vision mediated foraging were present under 19% polarization, which is within the polarization range commonly found in nature during daylight hours. These results demonstrate: (i) the first use of oriented swimming for enhancing polarization contrast detection of prey, (ii) its relevance to improved foraging under available light cues in nature, and (iii) an increase in target detection distance that is only matched by polarization based artificial systems.

Monopolatic motion vision in the butterfly Papilio xuthus

The swallowtail butterfly Papilio xuthus can perceive the linear polarization of light. Using a novel polarization projection system, we recently demonstrated that P. xuthus can detect visual motion based on polarization contrast. In the present study, we attempt to infer via behavioural experiments the mechanism underlying this polarization-based motion vision. Papilio xuthus do not perceive contrast between unpolarized and diagonally polarized light, implying that they cannot unambiguously estimate angle and degree of polarization, at least as far as motion detection is concerned. Furthermore, they conflate brightness and polarization cues, such that bright vertically polarized light resembles dim unpolarized light. These observations are consistent with a one-channel ‘monopolatic’ detector mechanism. We extend our existing model of motion vision in P. xuthus to incorporate these polarization findings, and conclude that the photoreceptors likely to form the basis for the putative monopolatic polarization detector are R3 and R4, which respond maximally to horizontally polarized green light. R5–R8, we propose, form a polarization-insensitive secondary channel tuned to longer wavelengths of light. Consistent with this account, we see greater sensitivity to polarization for green-light stimuli than for subjectively equiluminant red ones. Somewhat counter-intuitively, our model predicts greatest sensitivity to vertically polarized light; owing to the non-linearity of photoreceptor responses, light polarized to an angle orthogonal to a monopolatic detector's orientation offers the greatest contrast with unpolarized light.

Study on skylight polarization patterns over the ocean for polarized light navigation application

Polarized skylight navigation has excellent navigation performance with no error accumulation over time and low susceptibility to interference. The skylight polarization distribution contains rich directional information, such as the solar meridian, the neutral point, and the polarization angle, which plays a key role in the polarization navigation. But up to now the polarizations of both sunlit and moonlit skies have been investigated mainly over the land. In this work, the polarization distribution patterns of the skylight over the East China Sea and the Yellow Sea were studied. The polarization patterns were captured continuously during daytime and nighttime by using a full-sky imaging polarimetry system and then compared with the simulation results using the libRadtran radiative transfer software package. The result shows that the skylight polarization distribution over the sea has almost the same pattern as that on the land. The accuracy of the angle of polarization and the degree of polarization dropped significantly under the cloudy sky. It was found that when the ship sailed on the sea, the direction of the real meridian was close to the solar azimuth during the daytime and close to the lunar azimuth during the nighttime. It was also found that the nautical twilight polarization distribution was affected by both the solar polarization and the lunar polarization, but the solar polarization was dominant. The experiments show that the skylight polarization distribution pattern over the sea can still be applied in the field of polarization navigation. Thus, it is feasible for ships and unmanned aerial vehicles to use the polarized skylight to navigate and orient on the sea.

Polarized object detection in crabs: a two-channel system

Many animal species take advantage of polarization vision for vital tasks such as orientation, communication and contrast enhancement. Previous studies have suggested that decapod crustaceans use a two-channel polarization system for contrast enhancement. Here, we characterize the polarization contrast sensitivity in a grapsid crab. We estimated the polarization contrast sensitivity of the animals by quantifying both their escape response and changes in heart rate when presented with polarized motion stimuli. The motion stimulus consisted of an expanding disk with an 82 deg polarization difference between the object and the background. More than 90% of animals responded by freezing or trying to avoid the polarized stimulus. In addition, we co-rotated the electric vector (e-vector) orientation of the light from the object and background by increments of 30 deg and found that the animals' escape response varied periodically with a 90 deg period. Maximum escape responses were obtained for object and background e-vectors near the vertical and horizontal orientations. Changes in cardiac response showed parallel results but also a minimum response when e-vectors of object and background were shifted by 45 deg with respect to the maxima. These results are consistent with an orthogonal receptor arrangement for the detection of polarized light, in which two channels are aligned with the vertical and horizontal orientations. It has been hypothesized that animals with object-based polarization vision rely on a two-channel detection system analogous to that of color processing in dichromats. Our results, obtained by systematically varying the e-vectors of object and background, provide strong empirical support for this theoretical model of polarized object detection.

Polarisation vision: overcoming challenges of working with a property of light we barely see

In recent years, the study of polarisation vision in animals has seen numerous breakthroughs, not just in terms of what is known about the function of this sensory ability, but also in the experimental methods by which polarisation can be controlled, presented and measured. Once thought to be limited to only a few animal species, polarisation sensitivity is now known to be widespread across many taxonomic groups, and advances in experimental techniques are, in part, responsible for these discoveries. Nevertheless, its study remains challenging, perhaps because of our own poor sensitivity to the polarisation of light, but equally as a result of the slow spread of new practices and methodological innovations within the field. In this review, we introduce the most important steps in designing and calibrating polarised stimuli, within the broader context of areas of current research and the applications of new techniques to key questions. Our aim is to provide a constructive guide to help researchers, particularly those with no background in the physics of polarisation, to design robust experiments that are free from confounding factors.

The Fly Sensitizing Pigment Enhances UV Spectral Sensitivity While Preventing Polarization-Induced Artifacts

Microvillar photoreceptors are intrinsically capable of detecting the orientation of e-vector of linearly polarized light. They provide most invertebrates with an additional sensory channel to detect important features of their visual environment. However, polarization sensitivity (PS) of photoreceptors may lead to the detection of polarization-induced false colors and intensity contrasts. Most insect photoreceptors are thus adapted to have minimal PS. Flies have twisted rhabdomeres with microvilli rotated along the length of the ommatidia to reduce PS. The additional UV-absorbing sensitizing pigment on their opsin minimizes PS in the ultraviolet. We recorded voltage from Drosophila photoreceptors R1-6 to measure the spectral dependence of PS and found that PS in the UV is invariably negligible but can be substantial above 400 nm. Using modeling, we demonstrate that in R1-6 without the sensitizing pigment, PS in the UV (PS UV ) would exceed PS in the visible part of the spectrum (PS VIS ) by a factor PS UV /PS VIS = 1.2-1.8, as lower absorption of Rh1 rhodopsin reduces self-screening. We use polarimetric imaging of objects relevant to fly polarization vision to show that their degree of polarization outdoors is highest in the short-wavelength part of the spectrum. Thus, under natural illumination, the sensitizing pigment in R1-6 renders even those cells with high PS in the visible part unsuitable for proper polarization vision. We assume that fly ventral polarization vision can be mediated by R7 alone, with R1-6 serving as an unpolarized reference channel.

The spectral, spatial and contrast sensitivity of human polarization pattern perception

It is generally believed that humans perceive linear polarized light following its conversion into a luminance signal by diattenuating macular structures. Measures of polarization sensitivity may therefore allow a targeted assessment of macular function. Our aim here was to quantify psychophysical characteristics of human polarization perception using grating and optotype stimuli defined solely by their state of linear polarization. We show: (i) sensitivity to polarization patterns follows the spectral sensitivity of macular pigment; (ii) the change in sensitivity across the central field follows macular pigment density; (iii) polarization patterns are identifiable across a range of contrasts and scales, and can be resolved with an acuity of 15.4 cycles/degree (0.29 logMAR); and (iv) the human eye can discriminate between areas of linear polarization differing in electric field vector orientation by as little as 4.4°. These findings, which support the macular diattenuator model of polarization sensitivity, are unique for vertebrates and approach those of some invertebrates with a well-developed polarization sense. We conclude that this sensory modality extends beyond Haidinger's brushes to the recognition of quantifiable spatial polarization-modulated patterns. Furthermore, the macular origin and sensitivity of human polarization pattern perception makes it potentially suitable for the detection and quantification of macular dysfunction.

A Novel Display System Reveals Anisotropic Polarization Perception in the Motion Vision of the Butterfly Papilio xuthus

While the linear polarization of light is virtually invisible to humans, many invertebrates' eyes can detect it. How this information is processed in the nervous system, and what behavioral function it serves, are in many cases unclear. One reason for this is the technical difficulty involved in presenting images or video containing polarization contrast, particularly if intensity and/or color contrast is also required. In this primarily methods-focused article, we present a novel technique based on projecting video through a synchronously rotating linear polarizer. This approach allows the intensity, angle of polarization, degree of linear polarization, and potentially also color of individual pixels to be controlled independently. We characterize the performance of our system, and then use it to investigate the relationship between polarization and motion vision in the swallowtail butterfly Papilio xuthus. Although this animal has photoreceptors sensitive to four different polarization angles, we find that its motion vision cannot distinguish between diagonally-polarized and unpolarized light. Furthermore, it responds more strongly to vertically-polarized moving objects than horizontally-polarized ones. This implies that Papilio's polarization-based motion detection employs either an unbalanced two-channel (dipolatic) opponent architecture, or possibly a single-channel (monopolatic) scheme without opponent mechanisms.

Wavelength and Polarization Affect Phototaxis of the Asian Citrus Psyllid

The Asian citrus psyllid, Diaphorina citri Kuwayama (Hemiptera: Liviidae), is a primary pest of citrus due to its status as a vector of the citrus disease, huanglongbing. We evaluated the effects of light of specific wavelength and polarization on phototactic behavior of D. citri using a horizontal bioassay arena. Wavelength-associated positive phototaxis was associated with short wavelength UV (350-405 nm) targets whereas little or no responses were seen in longer wavelength targets in the visible spectrum from green to orange (500-620 nm). Distance walked towards the visual target was greater for UV/blue wavelengths (350-430 nm) than for longer wavelengths. Distances walked towards 365 nm light were greater than to white light, and distances travelled to green, yellow and orange light were similar to those in darkness. A reduced light intensity decreased responses to white and UV (365 nm) light. Polarized light was discriminated and D. citri travelled greater distance in response to white vertically polarized light than to horizontally polarized or unpolarized light of equal intensity. Responses to polarized 405 nm light were greater than to unpolarized light, although without an effect of polarization plane. For 500 nm light, there was no difference between responses to polarized or unpolarized light. There was no effect of age on responses to 405 nm light although 1 day old psyllids travelled faster in the presence of 500 nm green compared to 4-7 day old psyllids. Movement in response to UV and relative stasis in response to longer wavelength light is consistent with observed behaviors of settling on foliage for feeding and dispersing out of the canopy when flush needed for reproduction is scarce.

Extreme polarisation sensitivity in the retina of the corn borer moth Ostrinia

The visual system of the European corn borer (Ostrinia nubilalis) was analysed with microscopy and electrophysiological methods (electroretinograms and single-cell recordings). Ostrinia nubilalis has a pair of mainly ultraviolet-sensitive ocelli and a pair of compound eyes, maximally sensitive to green light. The ommatidia contain a tiered, fused rhabdom, consisting of the rhabdomeres of 9-12 photoreceptor cells with sensitivity peak wavelengths at 356, 413, 480 and 530 nm. The photoreceptors in a large dorsal rim area have straight rhabdomeres and high polarisation sensitivity (PS_1,2=3.4, 14). Elsewhere, in the main retina, the majority of photoreceptors have non-aligned microvilli and negligible PS, but each ommatidium contains one or two blue-sensitive distal photoreceptors with straight microvilli parallel to the dorsoventral axis, yielding extremely high PS (PS_1,2,3=56, 63, 316). Rhabdoms containing distal cells with potentially high PS have evolved at least twice: in moths (Crambidae, Noctuidae, Saturniidae), as well as in dung beetles (Scarabaeidae). The distal photoreceptors with high PS, sensitive to vertically polarised light, represent a monopolatic system, which is unsuitable for the proper analysis of electric field vector (e-vector) orientation. However, the distal photoreceptors might be used in conjunction with polarisation-insensitive photoreceptors to detect objects that reflect polarised light with stereotyped orientation.