The idea that humans use flexible map-like representations of their environment to guide spatial navigation has a long and controversial history. One reason for this enduring controversy might be that individuals vary considerably in their ability to form and utilize cognitive maps. Here we investigate the behavioral and neuroanatomical signatures of these individual differences. Participants learned an unfamiliar campus environment over a period of three weeks. In their first visit, they learned the position of different buildings along two routes in separate areas of the campus. During the following weeks, they learned these routes for a second and third time, along with two paths that connected both areas of the campus. Behavioral assessments after each learning session indicated that subjects formed a coherent representation of spatial structure of the entire campus after learning a single connecting path. Volumetric analyses of structural MRI data and voxel-based morphometry (VBM) indicated that the size of the right posterior hippocampus predicted the ability to use this spatial knowledge to make inferences about the relative positions of different buildings on the campus. An inverse relationship between gray matter volume and performance was observed in the caudate. These results suggest that (i) humans can rapidly acquire cognitive maps of large-scale environments and (ii) individual differences in hippocampal anatomy may provide the neuroanatomical substrate for individual differences in the ability to learn and flexibly use these cognitive maps.

Studies of spatial representation generally focus on flat environments and visual input. However, the world is not flat, and slopes are part of most natural environments. In a series of 4 experiments, we examined whether humans can use a slope as a source of allocentric, directional information for reorientation. A target was hidden in a corner of a square, featureless enclosure tilted at a 5° angle. Finding it required using the vestibular, kinesthetic, and visual cues associated with the slope gradient. In Experiment 1, the overall sample performed above chance, showing that slope is sufficient for reorientation in a real environment. However, a sex difference emerged; men outperformed women by 1.4 SDs because they were more likely to use a slope-based strategy. In Experiment 2, attention was drawn to the slope, and participants were prompted to rely on it to solve the task; however, men still outperformed women, indicating a greater ability to use slope. In Experiment 3, we excluded the possibility that women's disadvantage was due to wearing heeled footwear. In Experiment 4, women required more time than men to identify the uphill direction of the slope gradient; this suggests that, in a bottom-up fashion, a perceptual or attentional difficulty underlies women's disadvantage in the ability to use slope and their decreased reliance on this cue. Overall, a bi-coordinate representation was used to find the goal: The target was encoded primarily with respect to the vertical axis and secondarily with respect to the orthogonal axis of the slope.

The ability to use the geometric shape of an environment as an orienting cue for goal location has been shown in many vertebrate groups. Experimentally, however, geometric spatial tasks are typically carried out on horizontal surfaces. The present study explored how learning a geometry task is affected by training on a surface extending in the vertical dimension-a slope. In a reference memory task, pigeons (Columba livia) were trained to locate a goal in an isosceles trapezoid arena. Learning on a slope proceeded more rapidly or with fewer errors than on a flat surface, presumably because of kinesthetic, vestibular, and visual information extractable from an inclined surface. Experiment 1 showed that, although the geometric shape of the arena was encoded, pigeons trained on a slope were guided by a goal representation based on the vertical and orthogonal axes of the slope to solve the task. Experiment 2 revealed that geometric learning was neither overshadowed nor facilitated by training on a slope. The data highlight a potentially important role for slope as an allocentric cue for goal location.

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Abstract. Detecting, locating, and tracking people in a dynamic environment is important in many applications, ranging from security and environmental surveillance to assistance to people in domestic environments, to the analysis of human activities. To this end, several methods for tracking people have been developed using monocular cameras, stereo sensors, and radio frequency tags. In this paper we describe a real-time People Localization and Tracking (PLT) System, based on a calibrated fixed stereo vision sensor. The system analyzes three interconnected representations of the stereo data (the left intensity image, the disparity image, and the 3-D world locations of measured points) to dynamically update a model of the background; extract foreground objects, such as people and rearranged furniture; track their positions in the world. The system can detect and track people moving in an area approximately 3 x 8 meters in front of the sensor with high reliability and good precision.

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A basic tenet of principles of associative learning applicable to models of spatial learning is that a cue should be assigned greater weight if it is a better predictor of the goal location. Pigeons were trained to locate a goal in an acute corner of an isosceles trapezoid arena, presented on a slanted floor with 3 (Experiment 1) or 2 (Experiment 2) orientations. The goal could be consistently determined by the geometric shape of the arena; however, its position with respect to the slope gradient varied, such that slope position was not a good predictor of the goal. Pigeons learned to solve the task, and testing on a flat surface revealed successful encoding of the goal relative to the geometric shape of the arena. However, when tested in the arena placed in a novel orientation on the slope, pigeons surprisingly made systematic errors to the other acute-but geometrically incorrect-mirror image corner. The results indicate that, for each arena orientation, pigeons encoded the goal location with respect to the slope. Then, in the novel orientation, they chose the corner that matched the goal's position on the slope plus local cue (corner angle). Although geometry was 2 times (Experiment 2) or even 3 times (Experiment 1) as predictive as slope, it failed to control behavior during novel test trials. Instead, searching was driven by the less predictive slope cues. The reliance on slope and the unresponsiveness to geometry are explained by the greater salience of slope despite its lower predictive value.

The hippocampal formation (HF) plays a crucial role in amniote spatial cognition. There are also indications of functional lateralization in the contribution of the left and right HF in processes that enable birds to navigate space. The experiments described in this study were designed to examine left and right HF differences in a task of sun compass-based spatial learning in homing pigeons (Columba livia). Control, left (HFL) and right (HFR) HF lesioned pigeons were trained in an outdoor arena to locate a food reward using their sun compass in the presence or absence of alternative feature cues. Subsequent to training, the pigeons were subjected to test sessions to determine if they learned to represent the goal location with their sun compass and the relative importance of the sun compass vs. feature cues. Under all test conditions, the control pigeons demonstrated preferential use of the sun compass in locating the goal. By contrast, the HFL pigeons demonstrated no ability to locate the goal by the sun compass but an ability to use the feature cues. The behaviour of the HFR pigeons demonstrated that an intact left HF is sufficient to support sun compass-based learning, but in conflict situations and in contrast to controls, they often relied on feature cues. In conclusion, only the left HF is capable of supporting sun compass-based learning. However, preferential use of the sun compass for learning requires an intact right HF. The data support the hypothesis that the left and right HF make different but complementary contributions toward avian spatial cognition.