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This paper discusses a novel approach for the exploration of an underwater structure. A team of robots splits into two roles: certain robots approach the structure collecting detailed information (proximal observers) while the rest (distal observers) keep a distance providing an overview of the mission and assist in the localization of the proximal observers via a Cooperative Localization framework. Proximal observers utilize a novel robust switching model-based/visual-inertial odometry to overcome vision-based localization failures. Exploration strategies for the proximal and the distal observer are discussed.
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Visual mode switching learned through repeated adaptation to color
When the environment changes, vision adapts to maintain accurate perception. For repeatedly encountered environments, learning to adjust more rapidly would be beneficial, but past work remains inconclusive. We tested if the visual system can learn such visual mode switching for a strongly color-tinted environment, where adaptation causes the dominant hue to fade over time. Eleven observers wore bright red glasses for five 1-hr periods per day, for 5 days. Color adaptation was measured by asking observers to identify ‘unique yellow’, appearing neither reddish nor greenish. As expected, the world appeared less and less reddish during the 1-hr periods of glasses wear. Critically, across days the world also appeared significantly less reddish immediately upon donning the glasses. These results indicate that the visual system learned to rapidly adjust to the reddish environment, switching modes to stabilize color vision. Mode switching likely provides a general strategy to optimize perceptual processes.
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- Award ID(s):
- 1558308
- PAR ID:
- 10319942
- Date Published:
- Journal Name:
- eLife
- Volume:
- 9
- ISSN:
- 2050-084X
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.7554/eLife.61179
