Torsion in motion: the visual system as a three-axis gimbal

Rigorously tracking eye and head behavior in space is key to building realistic models of the stimulus that reaches our retina. The motion structure of this stimulus or retinal flow - the substrate for self and object motion processing - is created by the relative movement of the eyes with respect to the world. Characterizing this stimulus requires tracking the eyes three degrees of freedom in the head and the heads six degrees of freedom in the world. While vertical and horizontal eye rotations have been described during locomotion in the context of gaze stabilization (Moore et al, 2001), the component around the line of sight - torsion - has remained difficult to quantify, and how all three rotational components jointly contribute to retinal flow during self-motion remains largely unexplored. Here, we leveraged head-mounted technology to estimate eye torsion in ten subjects as they walked towards a distant target in a fast and slow condition (from 14 to 4 meters away from the target, see Fig. 1A). More specifically, we combined automatic feature tracking with gaze-constrained simulations of eye rotations and camera projection to recover torsion from image data. We then estimated flow curl in head and retina centered frames in two scenarios: torsion as estimated from our data and with no torsion. We show that the eyes torsional component compensates for the roll component of heads angular displacement, altering the incoming visual flow in ways that are relevant for the extraction of self-motion parameters from retinal flow. O_FIG O_LINKSMALLFIG WIDTH=200 HEIGHT=141 SRC="FIGDIR/small/743586v1_fig1.gif" ALT="Figure 1"> View larger version (38K): org.highwire.dtl.DTLVardef@391b9eorg.highwire.dtl.DTLVardef@1444510org.highwire.dtl.DTLVardef@1121e16org.highwire.dtl.DTLVardef@754b6a_HPS_FORMAT_FIGEXP M_FIG O_FLOATNOFig 1.C_FLOATNO A. Top. Custom-made head-mounted device combining the Neon eye tracker (Pupil Labs), an RGB camera and a dimmable light. Bottom. Four 3D frames of reference (FoR) are relevant for this study, two static (world and locomotion) and two subject centered (head and eye). The Z axis of the locomotion, head and eye FoRs are approximately aligned throughout the trial. For the locomotion FoR the Z axis is fixed in the world and points forward (towards the target). The heads Z axis moves with the head but - as subjects are fixating a target along their path -, it also points approximately forward. The eyes Z axis also moves with the head and its exact forward orientation will depend on compensatory eye movements. B. Left. Blue dots represent the Z component of the heads orientation vector (on the locomotion frame) on the X axis, and the sum of all three components on the Y axis; for each frame for all corpus data. Blue contour is the 75th percentile 2D density distribution of the blue dots. Red and violet contours represent the 75th percentile for the X and Y components of head orientation, respectively. Right. Same logic but applied to the heads velocity vector. C. Left. Two examples showing the mean rotation of iris features over the course of a slow (top) and fast (bottom) trial. Colored lines show each of the 561 simulated cameras for a given scenario (one color per scenario); the black line shows the camera from the empirical data. Right. Trial-level mean fit score of each scenario with the empirical data is represented as a function of each subjects fitted gain. 20 dots represent 10 subjects x 2 trials. On the rightmost column, all values are aligned vertically to show the mean fit score across trials for the three scenarios. Size indicates the 75th percentile of head z component for each trial. C_FIG