A passive, camera-based head-tracking system for real-time, three-dimensional estimation of head position and orientation in rodents.

Tracking head position and orientation in small mammals is crucial for many applications in the field of behavioral neurophysiology, from the study of spatial navigation to the investigation of active sensing and perceptual representations. Many approaches to head tracking exist, but most of them only estimate the 2D coordinates of the head over the plane where the animal navigates. Full reconstruction of the pose of the head in 3D is much more more challenging and has been achieved only in handful of studies, which employed headsets made of multiple LEDs or inertial units. However, these assemblies are rather bulky and need to be powered to operate, which prevents their application in wireless experiments and in the small enclosures often used in perceptual studies. Here we propose an alternative approach, based on passively imaging a lightweight, compact, 3D structure, painted with a pattern of black dots over a white background. By applying a cascade of feature extraction algorithms that progressively refine the detection of the dots and reconstruct their geometry, we developed a tracking method that is highly precise and accurate, as assessed through a battery of validation measurements. We show that this method can be used to study how a rat samples sensory stimuli during a perceptual discrimination task and how a hippocampal place cell represents head position over extremely small spatial scales. Given its minimal encumbrance and wireless nature, our method could be ideal for high-throughput applications, where tens of animals need to be simultaneously and continuously tracked.NEW & NOTEWORTHY Head tracking is crucial in many behavioral neurophysiology studies. Yet reconstruction of the head's pose in 3D is challenging and typically requires implanting bulky, electrically powered headsets that prevent wireless experiments and are hard to employ in operant boxes. Here we propose an alternative approach, based on passively imaging a compact, 3D dot pattern that, once implanted over the head of a rodent, allows estimating the pose of its head with high precision and accuracy.

Emergence of transformation-tolerant representations of visual objects in rat lateral extrastriate cortex.

Rodents are emerging as increasingly popular models of visual functions. Yet, evidence that rodent visual cortex is capable of advanced visual processing, such as object recognition, is limited. Here we investigate how neurons located along the progression of extrastriate areas that, in the rat brain, run laterally to primary visual cortex, encode object information. We found a progressive functional specialization of neural responses along these areas, with: (1) a sharp reduction of the amount of low-level, energy-related visual information encoded by neuronal firing; and (2) a substantial increase in the ability of both single neurons and neuronal populations to support discrimination of visual objects under identity-preserving transformations (e.g., position and size changes). These findings strongly argue for the existence of a rat object-processing pathway, and point to the rodents as promising models to dissect the neuronal circuitry underlying transformation-tolerant recognition of visual objects.

A versatile segmentation procedure.

In this paper, a new method for the segmentation of natural images is proposed. Original images g(x, y) are first regularized by using a self-adaptive implementation of the Mumford-Shah functional so that the two parameters alpha and gamma controlling the smoothness and fidelity, automatically adapt to the local scale and contrast of g(x, y). From the regularized image u(x, y) which is piecewise smooth, it is possible to obtain a piecewise constant image sN(x, y) representing a segmentation of the original image g(x, y). Indeed, sN(X, y) is the union of N closed regions, having a constant grey level, preserving thin bars and trihedral junctions present in the original image g(x, y). If the number N of closed regions is too high, closed regions can be merged by minimizing a functional which depends on a parameter n. When n is set equal to 1, a coarse segmentation is obtained with a few tens of distinct regions. With larger values of n, finer segmentations are obtained with about a hundred distinct regions. Therefore, by selecting the value of n it is possible to obtain segmentations at different resolutions. The proposed method for image segmentation was evaluated in two cases where a ground truth segmentation is available. The proposed procedure for image segmentation is rather versatile and depends on only one parameter n and seems suitable for higher level processing, such as categorization, recognition, and scene understanding.

Edge detection revisited.

The present manuscript aims at solving four problems of edge detection: the simultaneous detection of all step edges from a fine to a coarse scale; the detection of thin bars with a width of very few pixels; the detection of trihedral junctions; the development of an algorithm with image-independent parameters. The proposed solution of these problems combines an extensive spatial filtering with classical methods of computer vision and newly developed algorithms. Step edges are computed by extracting local maxima from the energy summed over a large bank of directional odd filters with a different scale. Thin roof edges are computed by considering maxima of the energy summed over narrow odd and even filters along the direction providing maximal response. Junctions are precisely detected and recovered using the output of directional filters. The proposed algorithm has a threshold for the minimum contrast of detected edges: for the large number of tested images this threshold was fixed equal to three times the standard deviation of the noise present in usual acquisition system (estimated to be between 1 and 1.3 gray levels out of 256), therefore, the proposed scheme is in fact parameter free. This scheme for edge detection performs better than the classical Canny edge detector in two quantitative comparisons: the recovery of the original image from the edge map and the structure from motion task. As the Canny detector in previous comparisons was shown to be the best or among the best detectors, the proposed scheme represents a significant improvement over previous approaches.

Self-adaptive regularization.

Often an image g(x,y) is regularized and even restored by minimizing the Mumford-Shah functional. Properties of the regularized image u(x,y) depends critically on the numerical value of the two parameters alpha and gamma controlling smoothness and fidelity. When alpha and gamma are constant over the image, small details are lost when an extensive filtering is used in order to remove noise. In this paper, it is shown how the two parameters alpha and gamma can be made self-adaptive. In fact, alpha and gamma are not constant but automatically adapt to the local scale and contrast of features in the image. In this way, edges at all scales are detected and boundaries are well-localized and preserved. In order to preserve trihedral junctions alpha and gamma become locally small and the regularized image u(x,y) maintains sharp and well-defined trihedral junctions. Images regularized by the proposed procedure are well-suited for further processing, such as image segmentation and object recognition.