ACTIVE SENSING Lecture 1: The Senses. The senses:

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Presentation transcript:

ACTIVE SENSING Lecture 1: The Senses

The senses:

Sensing:

Sensory encoding: Sensory organs consist of receptor arrays: audition 10  m cochlea vision retina 10  m somatosensation Finger pad ~200  m What receptors tell the brain

Sensory encoding: Sensory organs consist of receptor arrays: audition 10  m cochlea vision retina 10  m somatosensation Finger pad ~200  m Spatial organization => Spatial coding (“which receptors are activated”) What receptors tell the brain

Spatial coding (via passive sensing) would be sufficient had the world being continuously flashing on us and sensory sheets were u n i f o r m

Passive sensing metaphors the eye as a camera the skin as a carbon paper one could think of: Imprinted on the skin via mechano-receptors Imprinted on paper via carbon particles Pressure is light is Imprinted on the retina via photo-receptors

However 1. The world is not flashing and receptors are mostly sensitive to changes Receptors must move

Active Sensing: Sensor organs MOVE in order to obtain information

Active Sensing: Sensor organs MOVE in order to obtain information

However 1. The world is not flashing 2. sensory sheets are not uniform

finger Fovea eye Fovea => macro movements of the sensory organ whisker

Sensor motion is required for Foveation Sensing stationary environment Without sensor motion sensation is limited to moving or flashing objects

How sensor motion constrains sensory coding?

Eye movements during fixation backward!

Eye movements during fixation

=> Temporal coding (“when are receptors activated”) Sensory organs consist of receptor arrays: audition 10  m cochlea vision retina 10  m somatosensation Finger pad ~200  m Spatial organization => Spatial coding (“which receptors are activated”) Movements sensory encoding: What receptors tell the brain

Some similarities between vision and touch sensation

whisker Meissner (RAI) Merkel (SAI) Ruffini (SAII) Lanceolate (RAx) free endings Finger pad SAI SAII RAI RAII eye R G B Receptor types SA RA PC Some similarities between vision and touch sensation

eye finger whisker 1 o Receptors mix Some similarities between vision and touch sensation

Receptor filtering SA RA PC Frequency (Hz) Touch R G B Frequency (10 13 Hz) Vision Some similarities between vision and touch sensation

Receptor convergence / divergence Human eye: 5M cones + 120M rods --> 1M fibers Human skin: 2,500 receptors/cm 2 --> 300 fibers / cm 2 Rat whisker: 2,000 receptors --> 300 fibers Human ear: 3,000 hair cells --> 30,000 fibers Some similarities between vision and touch sensation

eye finger whisker Receptors Bipolar cells Ganglion cells Thalamus Cortex Receptors Ganglion cells Brainstem cells Thalamus Cortex Processing stations Some similarities between vision and touch sensation

eye finger whisker Receptors Bipolar cells Ganglion cells Receptors Ganglion cells Brainstem cells Lateral inhibition Some similarities between vision and touch sensation

Spatial Encoding vision retina 10  m retina – 2D matrix of photorecetors sensitive to light changes finger tip – 2D array of mechanoreceptors sensitive to skin movement somatosensation Finger pad ~10 mm Some similarities between vision and touch sensation Whisker pad – 2D array of hairs sensitive to movement

whiskers – 2D array of whiskers Spatial Encoding but... Some similarities between vision and touch sensation

Analogies Fovea: retinal fovea - finger pad - whisker pad Some similarities between vision and touch sensation Sensor motion: an eye - a finger - a whisker