Abstract.
Flies have the capability to visually track small moving targets, even across cluttered backgrounds. Previous computational models, based on figure detection (FD) cells identified in the fly, have suggested how this may be accomplished at a neuronal level based on information about relative motion between the target and the background. We experimented with the use of this “small-field system model” for the tracking of small moving targets by a simulated fly in a cluttered environment and discovered some functional limitations. As a result of these experiments, we propose elaborations of the original small-field system model to support stronger effects of background motion on small-field responses, proper accounting for more complex optical flow fields, and more direct guidance toward the target. We show that the elaborated model achieves much better tracking performance than the original model in complex visual environments and discuss the biological implications of our elaborations. The elaborated model may help to explain recent electrophysiological data on FD cells that seem to contradict the original model.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Borst A (1991) Fly visual interneurons responsive to image expansion. Zoologische Jahrbucher – Abteilung für Allgemeine Zoologie und Physiologie 95:305–313
Egelhaaf M (1985a) On the neuronal basis of figure-ground discrimination by relative motion in the visual system of the fly: I. Behavioral constraints imposed on the neuronal network and the role of the optomotor system. Biol Cybern 52:123–140
Egelhaaf M (1985b) On the neuronal basis of figure-ground discrimination by relative motion in the visual system of the fly: II. Figure-detection cells, a new class of visual interneurons. Biol Cybern 52:195–209
Egelhaaf M (1985c) On the neuronal basis of figure-ground discrimination by relative motion in the visual system of the fly: III. Possible input circuitries and behavioral significance of the FD-cells. Biol Cybern 52:267–280
Egelhaaf M, Borst A (1989) Transient and steady-state response properties of movement detectors. J Opt Soc Am A 6:116–127
Egelhaaf M, Borst A, Warzecha A-K, Flecks S, Wildeman A (1993) Neural circuit tuning fly visual interneurons to motion of small objects: II. Input organization of inhibitory circuit elements revealed by electrophysiological and optical recording techniques. J Neurophysiol 69(2):340–351
Gibson JJ (1950) The perception of the visual world. Houghton Mifflin, Boston
Gronenberg W, Strausfeld NJ (1991) Descending pathways connecting the male-specific visual system of flies to the neck and flight motor. J Comp Physiol A 169:413–426
Hassenstein B, Reichardt W (1956) Systemtheorische analyse der Zeit-, Reihenfolgen- und Vorzeichenauswertung bei der Bewegungsperzeption des Rüsselkäfers Chlorophanus. Zeitschrift für Naturforschung 11b:513–524
Hausen K, Egelhaaf M (1989) Neural mechanisms of visual course control in insects. In: Stavenga DG, Hardie RC (eds) Facets of vision, Chap 18. Springer, Berlin Heidelberg New York, pp 391–424
Huber SA, Bülthoff HH (1998) Simulation and robot implementation of visual orientation behaviors of flies. In: From animals to animats, proceedings of the fifth conference on the simulation of adaptive behaviour, vol 5. MIT Press, Cambridge, MA, pp 77–85
Kimmerle B, Egelhaaf M (2000) Performance of fly visual interneurons during object fixation. J Neurosci 20:6256–6266
Kimmerle B, Eickermann J, Egelhaaf M (2000) Object fixation by the blowfly during tethered flight in a simulated three-dimensional environment. J Exp Biol 203:1723–1732
Korrel HWA (2000) Simulation of visual orientation behaviour of the fly. Master’s thesis, Department of Computer Science, University of Maastricht
Land MF, Collett TS (1974) Chasing behaviour of houseflies (Fannia cannicularis): description and analysis. J Comp Physiol 89:331–357
Pant V (2003) Modular neuromorphic VLSI architectures for visual motion and target tracking. Master’s thesis, Department of Electrical and Computer Engineering, The University of Arizona, Tucson, AZ
Reichardt W, Egelhaaf M, Guo AK (1989) Processing of figure and background motion in the visual-system of the fly. Biol Cybern 61:327–345
Reichardt W, Poggio T (1979) Figure-ground discrimination by relative movement in the visual system of the fly: I. Experimental results. Biol Cybern 35:81–100
Reichardt W, Poggio T, Hausen K (1983) Figure-ground discrimination by relative movement in the visual system of the fly: II. Towards the neural circuitry. Biol Cybern 46:1–30
Van Santen JPH, Sperling G (1985) Elaborated Reichardt detectors. J Opt Soc Am A 2:300–320
Warzecha A-K, Egelhaaf M, Borst A (1993) Neural circuit tuning fly visual interneurons to motion of small objects: I. Dissection of the circuit by pharmacological and photoinactivation techniques. J Neurophysiol 69(2):329–339
Zarchan P (2002) Tactical and strategic missile guidance, 4th edn. American Institute of Aeronautics and Astronautics Press, Reston, VA
Author information
Authors and Affiliations
Corresponding author
Additional information
Acknowledgement This work was supported by the US Office of Naval Research under agreement number N68936-00-2-0002.
Rights and permissions
About this article
Cite this article
Higgins, C., Pant, V. An elaborated model of fly small-target tracking. Biol. Cybern. 91, 417–428 (2004). https://doi.org/10.1007/s00422-004-0518-y
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00422-004-0518-y