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Modeling Boundary Vector Cell Firing Given Optic Flow as a Cue

Figure 4

Examples of wall-ground segmentation and drop-off detection by our model.

a) Depicts a circular box of diameter 79 cm and a 50 cm high wall with the camera at , , , with orientation , and self-motion and . b) Shows the same circular box with walls removed to simulate a platform. c) Wall-ground segmentation estimated by our model based on the analytical flow shown as black arrows in a). d) Drop-off detection based on the flow discontinuities. Note that distant boundary locations are not detected, but these usually do not play a role for behavior. e) Shows a square box 62 cm×62 cm with a 50 cm high wall. f) Shows the same box as in e) with walls removed. g) Estimated wall-ground segmentation for the square box. h) Detected drop-off at close distance. In all examples the camera had the same position, orientation, and self-motion as mentioned in a). All boxes are described by a triangular mesh.

doi: https://doi.org/10.1371/journal.pcbi.1002553.g004