Spatial Reference Frames Research Articles

Flexible Use of Spatial Frames of Reference for Object-Location Memory in Older Adults.

In memory, representations of spatial features are stored in different reference frames; features relative to our position are stored egocentrically and features relative to each other are stored allocentrically. Accessing these representations engages many cognitive and neural resources, and so is susceptible to age-related breakdown. Yet, recent findings on the heterogeneity of cognitive function and spatial ability in healthy older adults suggest that aging may not uniformly impact the flexible use of spatial representations. These factors have yet to be explored in a precisely controlled task that explicitly manipulates spatial frames of reference across learning and retrieval. We used a lab-based virtual reality task to investigate the relationship between object–location memory across frames of reference, cognitive status, and self-reported spatial ability. Memory error was measured using Euclidean distance from studied object locations to participants’ responses at testing. Older adults recalled object locations less accurately when they switched between frames of reference from learning to testing, compared with when they remained in the same frame of reference. They also showed an allocentric learning advantage, producing less error when switching from an allocentric to an egocentric frame of reference, compared with the reverse direction of switching. Higher MoCA scores and better self-assessed spatial ability predicted less memory error, especially when learning occurred egocentrically. We suggest that egocentric learning deficits are driven by difficulty in binding multiple viewpoints into a coherent representation. Finally, we highlight the heterogeneity of spatial memory performance in healthy older adults as a potential cognitive marker for neurodegeneration, beyond normal aging.

How ageing and blindness affect egocentric and allocentric spatial memory.

Egocentric (subject-to-object) and allocentric (object-to-object) spatial reference frames are fundamental for representing the position of objects or places around us. The literature on spatial cognition in blind people has shown that lack of vision may limit the ability to represent spatial information in an allocentric rather than egocentric way. Furthermore, much research with sighted individuals has reported that ageing has a negative impact on spatial memory. However, as far as we know, no study has assessed how ageing may affect the processing of spatial reference frames in individuals with different degrees of visual experience. To fill this gap, here we report data from a cross-sectional study in which a large sample of young and elderly participants (160 participants in total) who were congenitally blind (long-term visual deprivation), adventitiously blind (late onset of blindness), blindfolded sighted (short-term visual deprivation) and sighted (full visual availability) performed a spatial memory task that required egocentric/allocentric distance judgements with regard to memorised stimuli. The results showed that egocentric judgements were better than allocentric ones and above all that the ability to process allocentric information was influenced by both age and visual status. Specifically, the allocentric judgements of congenitally blind elderly participants were worse than those of all other groups. These findings suggest that ageing and congenital blindness can contribute to the worsening of the ability to represent spatial relationships between external, non-body-centred anchor points.

Distal CA1 Maintains a More Coherent Spatial Representation than Proximal CA1 When Local and Global Cues Conflict.

Entorhinal cortical projections show segregation along the transverse axis of CA1, with the medial entorhinal cortex (MEC) sending denser projections to proximal CA1 (pCA1) and the lateral entorhinal cortex (LEC) sending denser projections to distal CA1 (dCA1). Previous studies have reported functional segregation along the transverse axis of CA1 correlated with the functional differences in MEC and LEC. pCA1 shows higher spatial selectivity than dCA1 in these studies. We employ a double rotation protocol, which creates an explicit conflict between the local and the global cues, to understand the differential contributions of these reference frames to the spatial code in pCA1 and dCA1 in male Long-Evans rats. We show that pCA1 and dCA1 respond differently to this local-global cue conflict. pCA1 representation splits as predicted from the strong conflicting inputs it receives from MEC and dCA3. In contrast, dCA1 rotates more in concert with the global cues. In addition, pCA1 and dCA1 display comparable levels of spatial selectivity in this study. This finding differs from the previous studies, perhaps because of richer sensory information available in our behavior arena. Together, these observations indicate that the functional segregation along proximodistal axis of CA1 is not of the amount of spatial selectivity but that of the nature of the different inputs used to create and anchor spatial representations.SIGNIFICANCE STATEMENT Subregions of the hippocampus are thought to play different roles in spatial navigation and episodic memory. It was previously thought that the distal part of area CA1 of the hippocampus carries lesser information about space than proximal CA1 (pCA1). We report that distal CA1 (dCA1) spatial representation moves more in concert with the global cues than pCA1 when the local and the global cues conflict. We also show that spatial selectivity is comparable along the proximodistal axis in this experimental protocol. Thus, different parts of the brain receiving differential outputs from pCA1 and dCA1 receive spatial information in different spatial reference frames encoded using different sets of inputs, rather than different amounts of spatial information as thought earlier.

Frames of spatial reference in five Australian languages

ABSTRACT Australian Indigenous languages are widely cited as depending overwhelmingly on abstract cardinal terms for spatial reference. However, considerable under-recognized diversity exists, with systems invoking aspects of local topography or egocentric projections. The first step toward an empirically grounded understanding of the wider implications of Australian spatial reference systems is to establish what components of spatial systems actually occur in what combinations across the continent. This article examines the spatial systems of five Australian languages to test hypotheses about the role of the environment in shaping linguistic representations of space, revealing under-recognized aspects of Australian systems, including the use of egocentric (“relative”) reference frame but only on the sagittal axis; a nearside-farside system; and multiple systems invoking diverse salient environmental features.

Metrical properties of spatial and temporal reference frames in visual working memory

Metrical properties of spatial and temporal reference frames in visual working memory

Early is left and up: Saccadic responses reveal horizontal and vertical spatial associations of serial order in working memory

Maintaining serial order in working memory is crucial for cognition. Recent theories propose that serial information is achieved by positional coding of items on a spatial frame of reference. In line with this, an early-left and late-right spatial-positional association of response code (SPoARC) effect has been established. Various theoretical accounts have been put forward to explain the SPoARC effect (the mental whiteboard hypothesis, conceptual metaphor theory, polarity correspondence, or the indirect spatial-numerical association effect). Crucially, while all these accounts predict a left-to-right orientation of the SPoARC effect, they make different predictions regarding the direction of a possible vertical SPoARC effect. In this study, we therefore investigated SPoARC effects along the horizontal and vertical spatial dimension by means of saccadic responses. We replicated the left-to-right horizontal SPoARC effect and established for the first time an up-to-down vertical SPoARC effect. The direction of the vertical SPoARC effect was in contrast to that predicted by metaphor theory, polarity correspondence, or by the indirect spatial-numerical association effect. Rather, our results support the mental whiteboard-hypothesis, according to which positions can be flexibly coded on an internal space depending on the task demands. We also found that the strengths of the horizontal and vertical SPoARC effects were correlated, showing that some people are more prone than others to use spatial references for position coding. Our results therefore suggest that context templates used for position marking are not necessarily spatial in nature but depend on individual strategy preferences.

Human cortical dynamics during full-body heading changes

The retrosplenial complex (RSC) plays a crucial role in spatial orientation by computing heading direction and translating between distinct spatial reference frames based on multi-sensory information. While invasive studies allow investigating heading computation in moving animals, established non-invasive analyses of human brain dynamics are restricted to stationary setups. To investigate the role of the RSC in heading computation of actively moving humans, we used a Mobile Brain/Body Imaging approach synchronizing electroencephalography with motion capture and virtual reality. Data from physically rotating participants were contrasted with rotations based only on visual flow. During physical rotation, varying rotation velocities were accompanied by pronounced wide frequency band synchronization in RSC, the parietal and occipital cortices. In contrast, the visual flow rotation condition was associated with pronounced alpha band desynchronization, replicating previous findings in desktop navigation studies, and notably absent during physical rotation. These results suggest an involvement of the human RSC in heading computation based on visual, vestibular, and proprioceptive input and implicate revisiting traditional findings of alpha desynchronization in areas of the navigation network during spatial orientation in movement-restricted participants.

Different mechanisms of magnitude and spatial representation for tactile and auditory modalities

The human brain creates an external world representation based on magnitude judgments by estimating distance, numerosity, or size. The magnitude and spatial representation are hypothesized to rely on common mechanisms shared by different sensory modalities. We explored the relationship between magnitude and spatial representation using two different sensory systems. We hypothesize that the interaction between space and magnitude is combined differently depending on sensory modalities. Furthermore, we aimed to understand the role of the spatial reference frame in magnitude representation. We used stimulus–response compatibility (SRC) to investigate these processes assuming that performance is improved if stimulus and response share common features. We designed an auditory and tactile SRC task with conflicting spatial and magnitude mapping. Our results showed that sensory modality modulates the relationship between space and magnitude. A larger effect of magnitude over spatial congruency occurred in a tactile task. However, magnitude and space showed similar weight in the auditory task, with neither spatial congruency nor magnitude congruency having a significant effect. Moreover, we observed that the spatial frame activated during tasks was elicited by the sensory inputs. The participants' performance was reversed in the tactile task between uncrossed and crossed hands posture, suggesting an internal coordinate system. In contrast, crossing the hands did not alter performance (i.e., using an allocentric frame of reference). Overall, these results suggest that space and magnitude interaction differ in auditory and tactile modalities, supporting the idea that these sensory modalities use different magnitude and spatial representation mechanisms.

Automatic Phenotyping of Tomatoes in Production Greenhouses Using Robotics and Computer Vision: From Theory to Practice

High-throughput phenotyping is playing an increasingly important role in many areas of agriculture. Breeders will use it to obtain values for the traits of interest so that they can estimate genetic value and select promising varieties; growers may be interested in having predictions of yield well in advance of the actual harvest. In most phenotyping applications, image analysis plays an important role, drastically reducing the dependence on manual labor while being non-destructive. An automatic phenotyping system combines a reliable acquisition system, a high-performance segmentation algorithm for detecting fruits in individual images, and a registration algorithm that brings the images (and the corresponding detected plants or plant components) into a coherent spatial reference frame. Recently, significant advances have been made in the fields of robotics, image registration, and especially image segmentation, which each individually have improved the prospect of developing a fully integrated automatic phenotyping system. However, so far no complete phenotyping systems have been reported for routine use in a production environment. This work catalogs the outstanding issues that remain to be resolved by describing a prototype phenotyping system for a production tomato greenhouse, for many reasons a challenging environment.

Exploring Reference Frame Integration Using Response Demands in a Tactile Temporal-Order Judgement Task.

Exploring the world through touch requires the integration of internal (e.g., anatomical) and external (e.g., spatial) reference frames - you only know what you touch when you know where your hands are in space. The deficit observed in tactile temporal-order judgements when the hands are crossed over the midline provides one tool to explore this integration. We used foot pedals and required participants to focus on either the hand that was stimulated first (an anatomical bias condition) or the location of the hand that was stimulated first (a spatiotopic bias condition). Spatiotopic-based responses produce a larger crossed-hands deficit, presumably by focusing observers on the external reference frame. In contrast, anatomical-based responses focus the observer on the internal reference frame and produce a smaller deficit. This manipulation thus provides evidence that observers can change the relative weight given to each reference frame. We quantify this effect using a probabilistic model that produces a population estimate of the relative weight given to each reference frame. We show that a spatiotopic bias can result in either a larger external weight (Experiment 1) or a smaller internal weight (Experiment 2) and provide an explanation of when each one would occur.

The development of allocentric spatial frame in the auditory system

The ability to encode space is a crucial aspect of interacting with the external world. Therefore, this ability appears to be fundamental for the correct development of the capacity to integrate different spatial reference frames. The spatial reference frame seems to be present in all the sensory modalities. However, it has been demonstrated that different sensory modalities follow various developmental courses. Nevertheless, to date these courses have been investigated only in people with sensory impairments, where there is a possible bias due to compensatory strategies and it is complicated to assess the exact age when these skills emerge. For these reasons, we investigated the development of the allocentric frame in the auditory domain in a group of typically developing children aged 6–10 years. To do so, we used an auditory Simon task, a paradigm that involves implicit spatial processing, and we asked children to perform the task in both the uncrossed and crossed hands postures. We demonstrated that the crossed hands posture affected the performance only in younger children (6–7 years), whereas at 10 years of age children performed as adults and were not affected by such posture. Moreover, we found that this task’s performance correlated with age and developmental differences in spatial abilities. Our results support the hypothesis that auditory spatial cognition’s developmental course is similar to the visual modality development as reported in the literature.

Multiple spatial reference frames underpin perceptual recalibration to audio-visual discrepancies.

In dynamic multisensory environments, the perceptual system corrects for discrepancies arising between modalities. For instance, in the ventriloquism aftereffect (VAE), spatial disparities introduced between visual and auditory stimuli lead to a perceptual recalibration of auditory space. Previous research has shown that the VAE is underpinned by multiple recalibration mechanisms tuned to different timescales, however it remains unclear whether these mechanisms use common or distinct spatial reference frames. Here we asked whether the VAE operates in eye- or head-centred reference frames across a range of adaptation timescales, from a few seconds to a few minutes. We developed a novel paradigm for selectively manipulating the contribution of eye- versus head-centred visual signals to the VAE by manipulating auditory locations relative to either the head orientation or the point of fixation. Consistent with previous research, we found both eye- and head-centred frames contributed to the VAE across all timescales. However, we found no evidence for an interaction between spatial reference frames and adaptation duration. Our results indicate that the VAE is underpinned by multiple spatial reference frames that are similarly leveraged by the underlying time-sensitive mechanisms.

Multirobot Confidence and Behavior Modeling: An Evaluation of Semiautonomous Task Performance and Efficiency

There is considerable interest in multirobot systems capable of performing spatially distributed, hazardous, and complex tasks as a team leveraging the unique abilities of humans and automated machines working alongside each other. The limitations of human perception and cognition affect operators’ ability to integrate information from multiple mobile robots, switch between their spatial frames of reference, and divide attention among many sensory inputs and command outputs. Automation is necessary to help the operator manage increasing demands as the number of robots (and humans) scales up. However, more automation does not necessarily equate to better performance. A generalized robot confidence model was developed, which transforms key operator attention indicators to a robot confidence value for each robot to enable the robots’ adaptive behaviors. This model was implemented in a multirobot test platform with the operator commanding robot trajectories using a computer mouse and an eye tracker providing gaze data used to estimate dynamic operator attention. The human-attention-based robot confidence model dynamically adapted the behavior of individual robots in response to operator attention. The model was successfully evaluated to reveal evidence linking average robot confidence to multirobot search task performance and efficiency. The contributions of this work provide essential steps toward effective human operation of multiple unmanned vehicles to perform spatially distributed and hazardous tasks in complex environments for space exploration, defense, homeland security, search and rescue, and other real-world applications.

Decoding Saccade Intention From Primate Prefrontal Cortical Local Field Potentials Using Spectral, Spatial, and Temporal Dimensionality Reduction.

Most invasive Brain Computer Interfaces (iBCIs) use spike and Local Field Potentials (LFPs) from the motor or parietal cortices to decode movement intentions. It has been debated whether harvesting signals from other brain areas that encode global cognitive variables, such as the allocation of attention and eye movement goals in a variety of spatial reference frames, may improve the outcome of iBCIs. Here, we explore the ability of LFP signals, sampled from the lateral prefrontal cortex (LPFC) of macaque monkeys, to encode eye-movement intention during the pre-movement fixation period of a delayed saccade task. We use spectral dimensionality reduction to examine the spatiotemporal properties of the extracted non-rhythmic broadband activity and explore its usefulness in decoding saccade goals. The dynamics of the broadband signal in low spatial dimensions across the pre-movement fixation period uncovered saccade target separation; its discriminative potential was confirmed using support vector machine classifications. These findings reveal that broadband LFP from the LPFC can be used to decode intended saccade target location during pre-movement periods. We further provide a general workflow that can be implemented in iBCIs and it is relatively robust to the loss of spikes in individual electrodes.

Mapping and classifying large deformation from digital imagery: application to analogue models of lithosphere deformation

SUMMARY Particle image velocimetry (PIV), a method based on image cross-correlation, is widely used for obtaining velocity fields from time-series of images of deforming objects. Rather than instantaneous velocities, we are interested in reconstructing cumulative deformation, and use PIV-derived incremental displacements for this purpose. Our focus is on analogue models of tectonic processes, which can accumulate large deformation. Importantly, PIV provides incremental displacements during analogue model evolution in a spatial reference (Eulerian) frame, without the need for explicit markers in a model. We integrate the displacements in a material reference (Lagrangian) frame, such that displacements can be integrated to track the spatial accumulative deformation field as a function of time. To describe cumulative, finite deformation, various strain tensors have been developed, and we discuss what strain measure best describes large shape changes, as standard infinitesimal strain tensors no longer apply for large deformation. PIV or comparable techniques have become a common method to determine strain in analogue models. However, the qualitative interpretation of observed strain has remained problematic for complex settings. Hence, PIV-derived displacements have not been fully exploited before, as methods to qualitatively characterize cumulative, large strain have been lacking. Notably, in tectonic settings, different types of deformation—extension, shortening, strike-slip—can be superimposed. We demonstrate that when shape changes are described in terms of Hencky strains, a logarithmic strain measure, finite deformation can be qualitatively described based on the relative magnitude of the two principal Hencky strains. Thereby, our method introduces a physically meaningful classification of large 2-D strains. We show that our strain type classification method allows for accurate mapping of tectonic structures in analogue models of lithospheric deformation, and complements visual inspection of fault geometries. Our method can easily discern complex strike-slip shear zones, thrust faults and extensional structures and its evolution in time. Our newly developed software to compute deformation is freely available and can be used to post-process incremental displacements from PIV or similar autocorrelation methods.

Multiple Spatial Coordinates Influence the Prediction of Tactile Events Facilitated by Approaching Visual Stimuli.

Interaction with other sensory information is important for prediction of tactile events. Recent studies have reported that the approach of visual information toward the body facilitates prediction of subsequent tactile events. However, the processing of tactile events is influenced by multiple spatial coordinates, and it remains unclear how this approach effect influences tactile events in different spatial coordinates, i.e., spatial reference frames. We investigated the relationship between the prediction of a tactile stimulus via this approach effect and spatial coordinates by comparing ERPs. Participants were asked to place their arms on a desk and required to respond tactile stimuli which were presented to the left (or right) index finger with a high probability (80%) or to the opposite index finger with a low probability (20%). Before the presentation of each tactile stimulus, visual stimuli approached sequentially toward the hand to which the high-probability tactile stimulus was presented. In the uncrossed condition, each hand was placed on the corresponding side. In the crossed condition, each hand was crossed and placed on the opposite side, i.e., left (right) hand placed on the right (left) side. Thus, the spatial location of the tactile stimulus and hand was consistent in the uncrossed condition and inconsistent in the crossed condition. The results showed that N1 amplitudes elicited by high-probability tactile stimuli only decreased in the uncrossed condition. These results suggest that the prediction of a tactile stimulus facilitated by approaching visual information is influenced by multiple spatial coordinates.

Effect of camera position on egocentric localisation with Simulated Prosthetic Vision

Objective: The positioning of the external camera in current designs of retinal prostheses may affect the egocentric spatial frame of reference and lead to pointing and localisation errors. The present simulated prosthetic vision (SPV) study investigated the immediate effects of four camera positions: (i) centre-mounted (CM), (ii) head-mounted (HM), (iii) left-mounted (LM), (iv) right-mounted (RM) on egocentric localisation. Approach: Fifteen sighted participants performed a pointing task while viewing the stimulus through a simulation of Bionic Vision Technologies’ 44-channel retinal prosthesis. Pointing responses were recorded immediately after exposure to different camera positions and prior to adaptation. The direction and magnitude of pointing errors and associated head movement behaviour were analysed using linear mixed effects analysis. Main results: Our results showed lower errors for medial camera positions (CM and HM) and overall improved accuracy and precision for CM position. Head orientation was found to largely influence the direction of pointing. There was a high positive correlation between direction of head orientation and direction of pointing with CM and HM camera positions, suggesting medial camera positions facilitated intuitive head orientation cues that are important for reliable egocentric direction estimation. Significance: The empirical evidence derived from the present SPV study offers practical guidance to reduce the effect on spatial dissociation of camera position in localisation tasks and inform design of future prosthetic vision devices and improve rehabilitation approaches.

Mild Stroke Affects Pointing Movements Made in Different Frames of Reference

Background Motor performance is a complex process controlled in task-specific spatial frames of reference (FRs). Movements can be made within the framework of the body (egocentric FR) or external space (exocentric FR). People with stroke have impaired reaching, which may be related to deficits in movement production in different FRs. Objective To characterize rapid motor responses to changes in the number of degrees of freedom for movements made in different FRs and their relationship with sensorimotor and cognitive impairment in individuals with mild chronic stroke. Methods Healthy and poststroke individuals moved their hand along the contralateral forearm (egocentric task) and between targets in the peripersonal space (exocentric task) without vision while flexing the trunk. Trunk movement was blocked in randomized trials. Results For the egocentric task, controls produced the same endpoint trajectories in both conditions (free- and blocked-trunk) by preserving similar shoulder-elbow interjoint coordination (IJC). However, endpoint trajectories were dissimilar because of altered IJC in stroke. For the exocentric task, controls produced the same endpoint trajectories when the trunk was free or blocked by rapidly changing the IJC, whereas this was not the case in stroke. Deficits in exocentric movement after stroke were related to cognitive but not sensorimotor impairment. Conclusions Individuals with mild stroke have deficits rapidly responding to changing conditions for complex reaching tasks. This may be related to cognitive deficits and limitations in the regulation of tonic stretch reflex thresholds. Such deficits should be considered in rehabilitation programs encouraging the reintegration of the affected arm into activities of daily living.

Delving into the Divisive Waters of River Basin Planning in Bolivia: A Case Study in the Cochabamba Valley

River basin planning in Bolivia is a relatively new endeavor that is primed for innovation and learning. One important learning opportunity relates to connecting watershed planning to processes within other planning units (e.g., municipalities) that have water management implications. A second opportunity relates to integrating watershed management, with a focus on land-based interventions, and water resources management, with a focus on the use and control of surface and groundwater resources. Bolivia’s River Basin Policy and its primary planning instrument, the River Basin Master Plan (PDC in Spanish), provide the relevant innovation and learning context. Official guidance related to PDC development lacks explicit instructions related to the use of analytical tools, the definition of spatially and temporally dis-aggregated indicators to evaluate specific watershed and water management interventions, and a description of the exact way stakeholders engage in the evaluation process. This paper describes an effort to adapt the tenets of a novel planning support practice, Robust Decision Support (RDS), to the official guidelines of PDC development. The work enabled stakeholders to discern positive and negative interactions among water management interventions related to overall system performance, hydrologic risk management, and ecosystem functions; use indicators across varying spatial and temporal reference frames; and identify management strategies to improve outcomes and mitigate cross-regional or inter-sectorial conflicts.

Perspective taking while interacting with a self-controlled or independently-acting avatar

The paper compares the ability of users to take the perspective of a self-controlled avatar with the extent to which the perspective of an independently acting avatar is taken. In two experiments we showed that the participants were able to prioritize the perspective of the self-controlled avatar performing their actions over the perspective of the independently-acting avatar. Since the spatial frames of reference of both avatars were comparable, the participants' prioritization of the avatar's perspective was mainly attributed to the extent to which the participants had control over the avatar's actions (Experiment 1). Even in a direct confrontation with an independently-acting avatar, participants adopted the perspective of the self-controlled avatar (Experiment 2). Based on these results, we concluded that it is easier to take the perspective of a self-controlled avatar than an independently-acting avatar.