Forward and Backward Inference in Spatial Cognition
Figure 1
Allocentric representation (left panel) and egocentric view (right panel). The agent (white triangle) is at allocentric location and oriented at
degrees (clockwise relative to the positive
axis). The environment contains two inner walls and four boundary walls. The agent is equipped with whiskers that detect the minimum Euclidian distance to a wall,
. It is also equipped with a nose that detects the signal from an olfactory source placed at
,
in the south-west corner of the maze (white circle). The agent also has a retina that is fixed in orientation and always aligned with the direction of heading,
. The retina provides one-dimensional visual input,
(displayed as a one-dimensional image in the right panel), from −45 to +45 degrees of visual angle around
and comprising
pixels.