Object pose: perceiving 3-d shape as sticks and slabs

Estimating the pose (three-dimensional orientation) of objects is an important aspect of 3-D shape perception. We studied the ability of observers to match the pose of the principal axes of an object with the pose of a cross consisting of three perpendicular axes. For objects, we used a long and a flat spheroid and eight symmetric objects with aspect ratios of dimensions of approximately 4:2:1. Stimulus cues were the contour and stereo for the spheroids, and contour, stereo, and shading for the symmetric objects. In addition, the spheroids were shown with or without surface texture and with or without active motion. Results show that observers can perform the task with standard deviations of a few degrees, though biases could be as large as 30 degrees. The results can be naturally decomposed in viewer-centered coordinates, and it turns out that the estimation of orientation in the frontoparallel plane (tilt) is more precise than estimation of orientation in depth (slant, roll). A comparison of long and flat spheroids shows that sticks lead to better performance than do slabs. This can even be the case within the same object; the pose of the stick-like aspect is seen with more precision than is the pose of the slab-like aspect. The largest biases occurred when the spheroids were displayed with the binocular contour as the only cue. We can explain these biases by assuming that subjects' settings are influenced by the orientation of the rim.     

Differential effects of cast shadows on perception and action

In two experiments we investigated the effects of cast shadows on different real-life tasks. In experiment 1, participants were required to make a speeded verbal identification of the target object (perceptual task), whereas in experiment 2 participants were required to reach for and grasp the target object (motor task). In both experiments real three-dimensional (3-D) objects were presented, one at a time, either with their own natural cast shadow (congruent condition) or with the cast shadow of a different object (incongruent condition). Shadows were cast either to the left or to the right of the object. We asked whether the features of the shadow (ie whether it is congruent or incongruent with the object, and whether it is cast to the left or to the right of the object) could influence perception and action differently. Results showed that cast shadows did not influence identification of real 3-D objects (experiment 1), but they affected movement kinematics, producing distractor-like interference, particularly on movement trajectory (experiment 2). These findings suggest a task-dependent influence of cast shadows on human performance. In the case of object-oriented actions, cast shadows may represent further affordances of the object, and as such compete for the control of the action.     

Do humans prefer to see their grasping points?

ABSTRACT To grasp an object the digits need to be placed at suitable positions on its surface. The selection of such grasping points depends on several factors. Here the authors examined whether being able to see 1 of the selected grasping points is such a factor. Subjects grasped large cylinders or oriented blocks that would normally be grasped with the thumb continuously visible and the final part of the index finger's trajectory occluded by the object in question. An opaque screen that hid the thumb's usual grasping point was used to examine whether individuals would choose a grip that was oriented differently to maintain vision of the thumb's grasping point. A transparent screen was used as a control. Occluding the thumb's grasping point made subjects move more carefully (adopting a larger grip aperture) and choose a slightly different grip orientation. However, the change in grip orientation was much too small to keep the thumb visible. The authors conclude that humans do not particularly aim for visible grasping points.     

Outline shape is a mediator of object recognition that is particularly important for living things

We assess the importance of outline shape in mediating the recognition of living and nonliving things. Natural objects were presented as shaded line drawings or silhouettes, and were living and nonliving things. For object decision (deciding whether an object may be encountered in real life) there were longer response times to nonliving than to living things. Importantly, this category difference was greater for silhouettes than for shaded line drawings. For naming, similar category and stimulus differences were evident, but were not as pronounced. We also examined effects of prior naming on subsequent object decision performance. Repetition priming was equivalent for nonliving and living things. However, prior presentation of silhouettes (but not shaded line drawings) reduced the longer RT to nonliving things relative to living things in silhouette object decision. We propose that outline contour benefits recognition of living things more than nonliving things: For nonliving things, there may be greater 2-D/3-D interpretational ambiguity, and/or they may possess fewer salient features.     

Perceptual saliency of points along the contour of everyday objects: a large-scale study

The aim of this large-scale study was to find out which points along the contour of a shape are most salient and why. Many subjects (N=161) were asked to mark salient points on contour stimuli, derived from a large set of line drawings of everyday objects (N=260). The database of more than 200,000 marked points was analyzed extensively to test the hypothesis, first formulated by Attneave (1954), that curvature extrema are most salient. This hypothesis was confirmed by the data: Highly salient points are usually very close to strong curvature extrema (positive maxima and negative minima). However, perceptual saliency of points along the contour is determined by more factors than just local absolute curvature. This was confirmed by an extensive correlational analysis of perceptual saliency in relation to ten different stimulus factors. A point is more salient when the two line segments connecting it with its two neighboring salient points make a sharp turning angle and when the 2-D part defined by the triplet of salient points is less compact and sticks out more.     

Multiple-object tracking is based on scene, not retinal, coordinates

This study tested whether multiple-object tracking-the ability to visually index objects on the basis of their spatiotemporal history-is scene based or image based. Initial experiments showed equivalent tracking accuracy for objects in 2-D and 3-D motion. Subsequent experiments manipulated the speeds of objects independent of the speed of the scene as a whole. Results showed that tracking accuracy was influenced by object speed but not by scene speed. This held true whether the scene underwent translation, zoom, rotation, or even combinations of all 3 motions. A final series of experiments interfered with observers' ability to see a coherent scene by moving objects at different speeds from one another and by distorting the perception of 3-D space. These reductions in scene coherence led to reduced tracking accuracy, confirming that tracking is accomplished using a scene-based, or allocentric, frame of reference.     

Where you look can influence haptic object recognition

We investigated whether the relative position of objects and the body would influence haptic recognition. People felt objects on the right or left side of their body midline, using their right hand. Their head was turned towards or away from the object, and they could not see their hands or the object. People were better at naming 2-D raised line drawings and 3-D small-scale models of objects and also real, everyday objects when they looked towards them. However, this head-towards benefit was reliable only when their right hand crossed their body midline to feel objects on their left side. Thus, haptic object recognition was influenced by people's head position, although vision of their hand and the object was blocked. This benefit of turning the head towards the object being explored suggests that proprioceptive and haptic inputs are remapped into an external coordinate system and that this remapping is harder when the body is in an unusual position (with the hand crossing the body midline and the head turned away from the hand). The results indicate that haptic processes align sensory inputs from the hand and head even though either hand-centered or object-centered coordinate systems should suffice for haptic object recognition.     

Event-related potential (ERP) indices of infants' recognition of familiar and unfamiliar objects in two and three dimensions

We measured infants' recognition of familiar and unfamiliar 3-D objects and their 2-D representations using event-related potentials (ERPs). Infants differentiated familiar from unfamiliar objects when viewing them in both two and three dimensions. However, differentiation between the familiar and novel objects occurred more quickly when infants viewed the object in 3-D than when they viewed 2-D representations. The results are discussed with respect to infants' recognition abilities and their understanding of real objects and representations. This is the first study using 3-D objects in conjunction with ERPs in infants, and it introduces an interesting new methodology for assessing infants' electrophysiological responses to real objects.     

3-D vision and figure-ground separation by visual cortex

A neural network theory of three-dimensional (3-D) vision, called FACADE theory, is described. The theory proposes a solution of the classical figure-ground problem for biological vision. It does so by suggesting how boundary representations and surface representations are formed within a boundary contour system (BCS) and a feature contour system (FCS). The BCS and FCS interact reciprocally to form 3-D boundary and surface representations that are mutually consistent. Their interactions generate 3-D percepts wherein occluding and occluded object parts are separated, completed, and grouped. The theory clarifies how preattentive processes of 3-D perception and figure-ground separation interact reciprocally with attentive processes of spatial localization, object recognition, and visual search. A new theory of stereopsis is proposed that predicts how cells sensitive to multiple spatial frequencies, disparities, and orientations are combined by context-sensitive filtering, competition, and cooperation to form coherent BCS boundary segmentations. Several factors contribute to figure-ground pop-out, including: boundary contrast between spatially contiguous boundaries, whether due to scenic differences in luminance, color, spatial frequency, or disparity-partially ordered interactions from larger spatial scales and disparities to smaller scales and disparities; and surface filling-in restricted to regions surrounded by a connected boundary. Phenomena such as 3-D pop-out from a 2-D picture, Da Vinci stereopsis, 3-D neon color spreading, completion of partially occluded objects, and figure-ground reversals are analyzed. The BCS and FCS subsystems model aspects of how the two parvocellular cortical processing streams that join the lateral geniculate nucleus to prestriate cortical area V4 interact to generate a multiplexed representation of Form-And-Color-And-DEpth, orfacade, within area V4. Area V4 is suggested to support figure-ground separation and to interact with cortical mechanisms of spatial attention, attentive object learning, and visual search. Adaptive resonance theory (ART) mechanisms model aspects of how prestriate visual cortex interacts reciprocally with a visual object recognition system in inferotemporal (IT) cortex for purposes of attentive object learning and categorization. Object attention mechanisms of the What cortical processing stream through IT cortex are distinguished from spatial attention mechanisms of the Where cortical processing stream through parietal cortex. Parvocellular BCS and FCS signals interact with the model What stream. Parvocellular FCS and magnocellular motion BCS signals interact with the model Where stream. Reciprocal interactions between these visual, What, and Where mechanisms are used to discuss data about visual search and saccadic eye movements, including fast search of conjunctive targets, search of 3-D surfaces, selective search of like-colored targets, attentive tracking of multielement groupings, and recursive search of simultaneously presented targets.     

When objects are close to me: Affordances in the peripersonal space

In the present study, we investigated, using language, which motor information is automatically activated by observing 3-D objects (i.e., manipulation vs. function) and whether this information is modulated by the objects' location in space. Participants were shown 3-D pictures of objects located in peripersonal versus extrapersonal space. Immediately after, they were presented with function, manipulation, or observation verbs (e.g., "to drink," "to grasp," "to look at") and were required to judge whether the verb was compatible with the presented object. We found that participants were slower with observation verbs than with manipulation and function verbs. With both function and manipulation verbs, participants were faster when objects were presented in reachable space. Interestingly, the fastest response times were recorded when participants read function verbs while objects were presented in the accessible space. Results suggest that artifacts are first conceived in terms of affordances linked to manipulation and use, and that affordances are differently activated, depending on context.     

Cued visual attention does not distinguish between occluded and occluding objects

Does visual attention spread from the cued end of an occluded object to locations occupied by inferred portions of that object? We investigated this question by using a probe detection paradigm with two-dimensional (2-D) displays of occluded objects. Probes could appear in occluded or nonoccluded locations on either a cued or noncued object. Participants responded faster to probes appearing within the region of space occupied by the cued object. This was true not only when the probe appeared in positions separated from the cued location by an occluder (as demonstrated by Moore, Yantis, & Vaughan, 1998), but also when it appeared in positions on the occluder itself. Thus, results suggest that cued facilitation spreads to regions of noncued occluding objects that overlap cued occluded objects in 2-D space.     

Haptic object recognition: how important are depth cues and plane orientation?

Raised-line drawings of familiar objects are very difficult to identify with active touch only. In contrast, haptically explored real 3-D objects are usually recognised efficiently, albeit slower and less accurately than with vision. Real 3-D objects have more depth information than outline drawings, but also extra information about identity (eg texture, hardness, temperature). Previous studies have not manipulated the availability of depth information in haptic object recognition whilst controlling for other information sources, so the importance of depth cues has not been assessed. In the present experiments, people named plastic small-scale models of familiar objects. Five versions of bilaterally symmetrical objects were produced. Versions varied only in the amount of depth information: minimal for cookie-cutter and filled-in outlines, partial for squashed and half objects, and full for 3-D models. Recognition was faster and much more accurate when more depth information was available, whether exploration was with both hands or just one finger. Novices found it almost impossible to recognise objects explored with two hand-held probes whereas experts succeeded using probes regardless of the amount of depth information. Surprisingly, plane misorientation did not impair recognition. Unlike with vision, depth information, but not object orientation, is extremely important for haptic object recognition.     

The perception of lightness in 3-D curved objects

Lightness constancy in complex scenes requires that the visual system take account of information concerning variations of illumination falling on visible surfaces. Three experiments on the perception of lightness for three-dimensional (3-D) curved objects show that human observers are better able to perform this accounting for certain scenes than for others. The experiments investigate the effect of object curvature, illumination direction, and object shape on lightness perception. Lightness constancy was quite good when a rich local gray-level context was provided. Deviations occurred when both illumination and reflectance changed along the surface of the objects. Does the perception of a 3-D surface and illuminant layout help calibrate lightness judgments? Our results showed a small but consistent improvement between lightness matches on ellipsoid shapes, relative to flat rectangle shapes, under illumination conditions that produce similar image gradients. Illumination change over 3-D forms is therefore taken into account in lightness perception.     

The visual and haptic perception of natural object shape

In this study, we evaluated observers' ability to compare naturally shaped three-dimensional (3-D) objects, using their senses of vision and touch. In one experiment, the observers haptically manipulated 1 object and then indicated which of 12 visible objects possessed the same shape. In the second experiment, pairs of objects were presented, and the observers indicated whether their 3-D shape was the same or different. The 2 objects were presented either unimodally (vision-vision or haptic-haptic) or cross-modally (vision-haptic or haptic-vision). In both experiments, the observers were able to compare 3-D shape across modalities with reasonably high levels of accuracy. In Experiment 1, for example, the observers' matching performance rose to 72% correct (chance performance was 8.3%) after five experimental sessions. In Experiment 2, small (but significant) differences in performance were obtained between the unimodal vision-vision condition and the two cross-modal conditions. Taken together, the results suggest that vision and touch have functionally overlapping, but not necessarily equivalent, representations of 3-D shape.     

Illusory contours and spatial judgment

We investigated whether, in the human visual system, the mechanisms responsible for relative location judgments are the same when those judgments are made in the context of illusory contours and in the context of mentally joining two points. We asked subjects to align a dot with the oblique contour of an illusory surface or to align a dot with two markers at an oblique orientation. The systematic errors differed in direction for these two conditions. All the systematic errors were orientation dependent. The errors in aligning a dot with an illusory contour seem to be related to the asymmetrical shape of the single objects, which are able to induce an illusory contour, as well as figure-ground segregation.     

Correspondence in pictorial space

ATR Human Information Processing Research Laboratories, Kyoto, Japan We have investigated psychophysically determined image correspondences between pairs of photographs of a single three-dimensional (3-D) object in various poses. These correspondences were obtained by presenting the pictures simultaneously, side by side, and letting the subject match a marker in one picture with a marker (under manual control) in the other picture. Between poses, the object was rotated about a fixed vertical axis; thus, the shifts of the veridical correspondences (with respect to the surface of the object) were very nearly horizontal. In fact, the subjects produced appreciable scatter in both horizontal and vertical directions. The scatter in repeated sessions and between data depends on the local (landmarks) and global (interpolation) structure of the pictures. Since the object was fairly smooth (white semigloss finish) and nontextured, the only way to establish the correspondence is by way of the “pictorial relief.” The relief is some largely unknown function of the image structure and the observer. Apparently, more immediate entities (e.g., the shading or the contour) cannot be used as such, since they vary with the pose. We compare these data with results obtained with a surface attitude probe on a single picture. We studied various measures of consistency both within a single method and between methods. We found that subjects were confident in establishing correspondences, but results scattered appreciably in a way that depended on both global and local image structure. Correspondence results for various pose angles were mutually very consistent, but only to a minor extent with results of attitude measurements. The main finding was that subjects could establish correspondence on the basis of their 3-D interpretation (pictorial relief), even if the 2-D graytone distributions are quite different.     

Recognizing faces defined by texture gradients

Texture gradients can reveal surface orientation in a manner similar to shape from shading, and therefore provide an important cue for object recognition. In this study, we tested whether a complex 3-D object, such as a face, can be identified from texture gradients alone. The stimuli were laser-scanned faces for which the texture element was a fractal-noise pattern mapped onto the 3-D surface. An eight-alternative forced choice task was used in which participants matched a face defined by texture gradients to one of eight faces defined by shape from shading (Experiment 1) or by texture gradients (Experiment 2). On average, participants scored 24% and 18%, respectively, above chance in these experiments. Although this performance was much poorer than the performance based entirely on shape-from-shading stimuli (Experiment 3), the results suggest that texture gradient information may be used to recover surface geometry of complex objects.     

Are human bodies represented differently from other objects? Experience shapes object representations

This study investigated the cognitive organization of the human body representation and its relationship to other object representations. It addressed whether (1) all objects and their parts were organized similarly, (2) animate objects and their parts were organized differently from inanimate objects and their parts, and (3) the human body was organized differently from all other objects. The relations among the parts of three exemplar objects (human body, bear, and bicycle) were examined. Participants performed a series of sorting tasks using stimulus cards illustrating various part and part combinations of these objects; the cards were constructed so that the same strategies could be used to categorize all three objects. Dissimilarity data were analysed using multidimensional scaling techniques. Results indicated that the human body was organized differently from the other objects, and that categorization did not follow the animate–inanimate distinction. Although animate objects were represented more on their visual characteristics and inanimate objects were represented more on functional characteristics, the human body was represented on its ability to perform actions. Representations of the other objects suggested that their organization was embodied in that they appear to be shaped by how the human body interacts, or doesn't interact, with the object.     

The perception and discrimination of local 3-D surface structure from deforming and disparate boundary contours

In a series of four experiments, we evaluated observers' abilities to perceive and discriminate ordinal depth relationships between separated local surface regions for objects depicted by static, deforming, and disparate boundary contours or silhouettes. Comparisons were also made between judgments made for silhouettes and for objects defined by surface texture, which permits judgment based on conventional static texture gradients, conventional stereopsis, and conventional structure-from-motion. In all the experiments, the observers were able to detect, with relatively high precision, ordinal depth relationships, an aspect of local three-dimensional (3-D) structure, from boundary contours or silhouettes. The results of the experiments clearly demonstrate that the static, disparate, and deforming boundary contours of solid objects are perceptually important optical sources of information about 3-D shape. Other factors that were found to affect performance were the amount of separation between the local surface regions, the proximity or closeness of the regions to the boundary contour itself, and for the conditions with deforming contours, the overall magnitude of the boundary deformation.     

Object interpolation in three dimensions

Perception of objects in ordinary scenes requires interpolation processes connecting visible areas across spatial gaps. Most research has focused on 2-D displays, and models have been based on 2-D, orientation-sensitive units. The authors present a view of interpolation processes as intrinsically 3-D and producing representations of contours and surfaces spanning all 3 spatial dimensions. The authors propose a theory of 3-D relatability that indicates for a given edge which orientations and positions of other edges in 3 dimensions may be connected to it, and they summarize the empirical evidence for 3-D relatability. The theory unifies and illuminates a number of fundamental issues in object formation, including the identity hypothesis in visual completion, the relations of contour and surface processes, and the separation of local and global processing. The authors suggest that 3-D interpolation and 3-D relatability have major implications for computational and neural models of object perception.