Modeling Boundary Vector Cell Firing Given Optic Flow as a Cue
Figure 9
Shows the pseudo-code for wall-ground segmentation, and estimation of self-motion, distance, and direction of walls.
The constructor “MatrixValueLinear(min,max,num)” provides a linear equidistant sampling between “min” and “max” of “num” samples. In contrast, the constructor “MatrixValuesLog(min,max,num)” implements a logarithmic sampling between “min” and “max” with “num” samples. The function “matchGround” implements Equation (6) and “matchWall” implements Equation (7). Both functions are used to compute a wall-ground segmentation. The linear velocity is estimated using Equation (8). Further, “matchRotation” implements Equation (9) and “matchSpeedDirection” implements Equation (10). The readout functions “readout1D” and “readout2D” are defined in Code-box 3.