Simulated visual homing in desert ant natural environments: efficiency of skyline cues
Simulated visual homing in desert ant natural environments: efficiency of skyline cues
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DOI：
10.1007/s00422-010-0375-9
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发表时间：
2010-05-01
影响因子：
1.9
通讯作者：
Mallot, Hanspeter A.
中科院分区：
文献类型：
--
作者：
Basten, Kai;Mallot, Hanspeter A.
沙漠蚂蚁在杂乱的半干旱环境中觅食，被认为是沿着个别的、习惯性的路线进行视觉引导。虽然其他导航机制(如路径整合)已经得到了很好的研究，但蚂蚁如何从复杂的视觉场景中提取可靠的视觉特征的问题仍然在很大程度上是悬而未决的。本文探讨了这样一种假设，即在天空中形成的地物的上轮廓，即天际线，为视觉导航提供了足够的信息。我们构建了一个蚂蚁环境的虚拟模型。在虚拟环境中，全景图像被记录下来，并适应沙漠蚂蚁复杂眼睛的分辨率。从这些图像中提取了天际线代码或基于像素的强度代码。此外，实现了两种寻的算法，平均地标向量(ALV)模型的修改版本(Lambrinos等人。机器人AUTON SYST30：39-，2000)和梯度上升法。结果表明，Skyline编码的空间混叠较小，基于Skyline编码的ALV寻的寻的性能最好。这支持了沙漠蚂蚁视觉寻的天际线编码的假设，并允许采用新的方法进行技术户外导航。
Desert ants, foraging in cluttered semiarid environments, are thought to be visually guided along individual, habitual routes. While other navigational mechanisms (e.g. path integration) are well studied, the question of how ants extract reliable visual features from a complex visual scene is still largely open. This paper explores the assumption that the upper outline of ground objects formed against the sky, i.e. the skyline, provides sufficient information for visual navigation. We constructed a virtual model of the ant's environment. In the virtual environment, panoramic images were recorded and adapted to the resolution of the desert ant's complex eye. From these images either a skyline code or a pixel-based intensity code were extracted. Further, two homing algorithms were implemented, a modified version of the average landmark vector (ALV) model (Lambrinos et al. Robot Auton Syst 30:39-64, 2000) and a gradient ascent method. Results show less spatial aliasing for skyline coding and best homing performance for ALV homing based on skyline codes. This supports the assumption of skyline coding in visual homing of desert ants and allows novel approaches to technical outdoor navigation.