Mandyam Srinivasan - University of Queensland

Mandyam Srinivasan - University of Queensland

Vision and navigation in bees and birds
and applications to robotics
Mandyam Srinivasan
Queensland Brain Institute
and Institute of Electrical and Electronic
Engineering
University of Queensland
and
ARC Centre of Excellence in Vision Science
Sam Baker, Daniel Bland, Natalie Bland, Nikolai Liebsch,
Richard Moore, Gavin Taylor, Saul Thurrowgood, Dean Soccol
Peculiarities of insect vision
Small interocular separation
Therefore, stereo vision is
difficult
Insects rely heavily on
image motion cues to
infer object distance,
perceive the world in 3-D
and navigate in it
Dr. Miriam Lehrer
University of Zürich
Bees negotiate narrow gaps by balancing the image velocities in the two eyes
Kirchner & Srinivasan
Naturwissenschaften (1988)
Srinivasan, Lehrer, Kirchner & Zhang
Vis. Neurosci. (1991)
Centering response in budgerigars
P. Bhagavatula, C. Claudianos, M. Ibbotson, M.V. Srinivasan
Current Biology (2011)
N.S.
Visual control of flight speed - bees
~300 deg/sec
Baird, Srinivasan, Zhang and Cowley,
J Exp Biol (2005)
Control of flight speed
Speed of flight is regulated
by holding the global
image velocity constant
Srinivasan, Zhang, Lehrer & Collett
J. Exp. Biol. (1996)
Battling
headwind
0.5
0.4
Ground
speed 0.3
m/s
Headwind
speed
0.9 m/s
0.2
1.6 m/s
2.8 m/s
3.8 m/s
0.1
0
0
40
80
120
160
Volts
Headwind
Barron and Srinivasan, J. Exp. Biol. (2006)
Landing
How does a bee perform a smooth, grazing landing ?
Landing parameters
h
(height above
surface)
Vf (Forward speed)
!" (Descent angle)
Vf
!=Tan-1"
V
V (Descent speed)
d
d
Horizontal flight speed versus height
Srinivasan, Zhang, Chahl, Barth & Venkatesh, Biol. Cybern (2000)
Landing on a vertical surface
With Emily Baird, Norbert Boeddeker, Michael Ibbotson
Distance decreases exponentially as a function of time,
suggesting that approach speed is controlled by holding rate of image expansion constant
S61
400
Honeybee
landing
300
Position (Z), mm
200
100
Stat 6 arms
Z=-273.48+519.7*exp(-0.0028*t)
0
11 flights
-100
Baird, Boeddeker,
Ibbotson, Srinivasan:
PNAS (in press)
-200
-300
0
100
200
300
400
Time (t), msec
500
600
700
Test of hypothesis: Expanding spiral reduces approach speed; contracting spiral increases it
250
Expanding 1 rps
Contracting 1rps
Static
200
150
100
Position (Z), mm
50
0
-50
Baird, Boeddeker,
Ibbotson, Srinivasan:
PNAS (in press)
-100
-150
-200
-250
0
200
400
600
Time (t), msec
800
1000
1200
Baird, Boeddeker, Ibbotson, Srinivasan: PNAS (in press)
Constant approach
speed
200 deg/sec
Honeybee odometry
The waggle dance
Waggle duration (sec)
Q: How does a bee work out how far she has flown?
Karl von Frisch
Round dance
Waggle dance
(feeder distance < 50m)
(feeder distance > 50m)
Honeybee navigation:
How does a bee estimate
how far it has flown?
Srinivasan, Zhang, Altwein & Tautz, Science (2000)
Esch, Zhang, Srinivasan & Tautz Nature (2001)
Dance
signal
Feeder
Hive
Round dance
6m
~0
m
Feeder
Hive
Waggle dance
6m
~ 200
m
Feeder
Hive
Round dance
6m
~0
m
Visual calibration of the honeybee’s odometer and dance
1 msec of waggle corresponds to
18o of image movement in the eye during
flight
18o
Srinivasan, Zhang, Altwein & Tautz, Science (2000)
How do the recruits respond to the dancing tunnel bees?
8m
Recruits search
at 140 m
Scouts returning from 8 m tunnel
signal a distance of 140 m
Esch, Zhang, Srinivasan & Tautz
Nature (2001)
Honeybee perception and cognition
Image courtesy Jeff Wilson and Judith Reinhard
Maze learning
Maze navigation: following a colour mark
Music in the wind
Bev Doolittle
Rewarded
“Top-down” processing
in honeybees
49.0%
Unrewarded
51.0%
(n=1099, P > 0.50
63.1%
36.9%
(n=141, P < 0.005)
61.2%
38.8%
(n=509, P < 0.001)
62.6% 37.4%
Zhang & Srinivasan
Nature (1994)
(n=238, P < 0.001)
Associative recall
Can scent trigger memories of locations?
Training paradigm
Rose-scented
feeder
Lemon-scented
feeder
2m
Hive
21 individually marked bees
Reinhard, Srinivasan and Zhang, Nature (2004)
Can scent trigger memories of locations?
Test
40
41
4
Former rose
feeder
5
Former lemon
feeder
2m
lemon
rose
scent
scent
21 individually marked bees
Hive
Reinhard, Srinivasan and Zhang, Nature (2004)