How variation in head pitch could affect image matching algorithms for ant navigation.
How variation in head pitch could affect image matching algorithms for ant navigation.
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DOI：
10.1007/s00359-015-1005-8
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发表时间：
2015-06
期刊：
影响因子：
--
通讯作者：
Webb B
中科院分区：
文献类型：
--
作者：
Ardin P;Mangan M;Wystrach A;Webb B
沙漠蚂蚁是动物导航的模型系统，利用视觉记忆在稀疏和杂乱的环境中沿着长路线前进。这种行为的大多数解释都假设视网膜定位图像匹配，例如，通过在视点旋转时找到图像差函数中的最小值来恢复航向。但大多数模型忽略了潜在的图像失真，可能导致不稳定的头部运动。我们报告说，蚂蚁在一小段自然基质上奔跑时，头部的倾斜度变化很大：空载时超过20度;携带大型食物时为60度。没有头部稳定的证据。使用一个现实的模拟蚂蚁的视觉世界，我们证明了这个范围内的头部间距显着降低图像匹配。间距变化的影响可以通过沿着路线沿着密集采样的存储器组来改善，使得间距和位置足够相似的图像可用于比较。然而，在大的俯仰干扰的情况下，在远处位置处采样的不适当的记忆常常被召回，并且沿沿着路线的导航可能受到不利影响。忽略在极端音高下获得的图像，或在几个音高上平均图像，不会显著提高性能。本文的在线版本（doi：10.1007/s 00359 -015-1005-8）包含补充材料，可供授权用户使用。
Desert ants are a model system for animal navigation, using visual memory to follow long routes across both sparse and cluttered environments. Most accounts of this behaviour assume retinotopic image matching, e.g. recovering heading direction by finding a minimum in the image difference function as the viewpoint rotates. But most models neglect the potential image distortion that could result from unstable head motion. We report that for ants running across a short section of natural substrate, the head pitch varies substantially: by over 20 degrees with no load; and 60 degrees when carrying a large food item. There is no evidence of head stabilisation. Using a realistic simulation of the ant’s visual world, we demonstrate that this range of head pitch significantly degrades image matching. The effect of pitch variation can be ameliorated by a memory bank of densely sampled along a route so that an image sufficiently similar in pitch and location is available for comparison. However, with large pitch disturbance, inappropriate memories sampled at distant locations are often recalled and navigation along a route can be adversely affected. Ignoring images obtained at extreme pitches, or averaging images over several pitches, does not significantly improve performance. The online version of this article (doi:10.1007/s00359-015-1005-8) contains supplementary material, which is available to authorized users.
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