For human and animal vision, the perception of local visual features can depend on the spatial arrangement of the surrounding visual stimuli. In the earliest stages of visual processing this phenomenon is called surround modulation, where the response of visually selective neurons is influenced by the response of neighboring neurons. Surround modulation has been implicated in numerous important perceptual phenomena, such as contour integration and figure-ground segregation. In cats, one of the major potential neural substrates for surround modulation are lateral connections between cortical neurons in layer 2/3, which typically contains ”complex” cells that appear to combine responses from ”simple” cells in layer 4C. Interestingly, these lateral connections have also been implicated in the development of functional maps in primary visual cortex, such as smooth, well-organized maps for the preference of oriented lines. Together, this evidence suggests a common underlying substrate the lateral interactions in layer 2/3—as the driving force behind development of orientation maps for both simple and complex cells, and at the same time expression of surround modulation in adult animals. However, previously these phenomena have been studied largely in isolation, and we are not aware of a computational model that can account for all of them simultaneously and show how they are related. In this thesis we resolve this problem by building a single, unified computational model that can explain the development of orientation maps, the development of simple and complex cells, and surround modulation. First we build a simple, single-layer model of orientation map development based on ALISSOM, which has more realistic single cell properties (such as contrast gain control and contrast invariant orientation tuning) than its predecessor. Then we extend this model by adding layer 2/3, and show how the model can explain development of orientation maps of both simple and complex cells. As the last step towards a developmental model of surround modulation, we replace Mexican-hat-like lateral connectivity in layer 2/3 of the model with a more realistic configuration based on long-range excitation and short-range inhibitory cells, extending a simpler model by Judith Law. The resulting unified model of V1 explains how orientation maps of simple and complex cells can develop, while individual neurons in the developed model express realistic orientation tuning and various surround modulation properties. In doing so, we not only offer a consistent explanation behind all these phenomena, but also create a very rich model of V1 in which the interactions between various V1 properties can be studied. The model allows us to formulate several novel predictions that relate the variation of single cell properties to their location in the orientation preference maps in V1, and we show how these predictions can be tested experimentally. Overall, this model represents a synthesis of a wide body of experimental evidence, forming a compact hypothesis for much of the development and behavior of neurons in the visual cortex.

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Dans le cortex visuel primaire du chat (aires 17 et 18), les neurones répondant aux orientations présentes dans l’environnement (comme le contour des objets) sont organisés en colonnes perpendiculaires à la surface du cortex. Il a précédemment été montré qu'un changement drastique des orientations présentes dans l’environnement change la réponse des neurones. Par exemple, un neurone répondant à des orientations horizontales pourra répondre, après apprentissage d'un nouvel environnement, à des orientations obliques. Nous avons voulu, dans cette thèse, suivre les changements de propriétés de populations entières de neurones suite à ce type d'apprentissage. A cet effet, nous avons utilisé la technique d'imagerie optique des signaux intrinsèques, qui permet de mesurer l'activité d'une surface de cortex en utilisant le signal BOLD (blood-oxygen-level dependent). Cette thèse s'articule sur trois axes : l'effet de l'apprentissage au niveau local, l'effet de l’apprentissage à l'échelle de l'aire cérébrale, et la modélisation de l’apprentissage. Dans la première partie, nous avons comparé les changements d’orientations des neurones en fonction du gradient d’orientation local. Ce gradient est fort quand deux neurones voisins ont des orientations très différentes, et faible quand leurs orientations sont semblables. Les résultats montrent que plus les neurones sont entourés de neurones aux orientations différentes, plus l'apprentissage change leur réponse à l’orientation. Ceci suggère que les connexions locales ont une influence déterminante sur l'ampleur de l’apprentissage. Dans la deuxième partie, nous avons comparé le changement d’orientation des neurones des aires 17 et 18 avant et après apprentissage. Les résultats ne sont pas notablement différents entre les aires 17 et 18. On peut toutefois noter que les changements d’orientations dans l’aire 18 ont des amplitudes plus variables que dans l’aire 17. Ceci peut provenir du fait que l’aire 18 reçoit des afférences plus variées que l’aire 17, notamment une afférence directe des cellules Y du CGLd (Corps Genouillé Latéral dorsal). Dans la troisième partie, nous avons modélisé l'apprentissage expérimentalement observé à l'aide de réseaux de neurones utilisant un apprentissage Hebbien (cartes auto-organisatrices). Nous avons montré que le « feedback » des aires supérieures vers le cortex visuel primaire était souhaitable pour la conservation de la sélectivité à l'orientation des neurones. De manière générale, cette thèse montre l'importance des connexions locales dans la plasticité neuronale. Notamment, elles garantissent un apprentissage homéostatique, c'est-à- dire conservant la représentativité des orientations au niveau du cortex. De manière complémentaire, elle montre également l’importance des aires supérieures dans le maintient à long terme des orientations apprises par les neurones lors de l'apprentissage. / In the cat primary visual cortex (areas 17 and 18), neurons responding to orientations in the environment (such as the outline of objects) are organized in columns perpendicular to the cortical surface. It was previously shown that a drastic change in orientations in the environment changes the response of neurons. For example, a neuron responding to a horizontal orientation will respond, after learning a new environment, to an oblique orientation. In this thesis, we seek to follow the changes of properties of large populations of neurons due to this type of learning. To this end, we used the intrinsic signals optical imaging technique, which measures the activity of a cortical surface using the BOLD (blood-oxygen-level dependent) signal. This thesis follows three axes: the effect of learning at the local level, the effect of learning at the visual area scale, and the modeling of learning. In the first part, we compared the changes in orientation of neurons according to the local gradient of orientation. This gradient is strong when two neighboring neurons have very different orientations, and weak when their orientations are similar. The obtained relation between the gradient and the magnitude of change in orientation shows that when neurons are increasingly surrounded by neurons with different orientations, they change their response to orientation to a greater extent. This suggests that local connections have a decisive influence on the extent of learning. In the second part, we followed the change in the orientation of neurons in the areas 17 and 18, before and after learning. The results are not significantly different between area 17 and area 18. However, it is noteworthy that orientation changes in area 18 are more variable in amplitude than in area 17. This may be because area 18 receives more diverse inputs than area 17, including a direct input from dLGN (dorsal Lateral Geniculate Nucleus) Y cells. In the third part, we modeled the experimentally observed learning with neural networks using a Hebbian learning rule (networks are self-organizing maps). We have shown that feedback from higher areas to the primary visual cortex was desirable for the neurons orientation selectivity conservation. Overall, this thesis shows the importance of local connections in neuronal plasticity. In particular, they guarantee a homeostatic learning, i.e. maintaining the representativeness of orientations in the cortex. In a complementary manner, it also shows the importance of the superior areas in the conservation of learned orientations.

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The objective of this master's thesis was to get acquainted with an autonomous outdoor robot competition - The Robotour and further to study the capabilities and information about a robot designed on the DITS FIT Brno VUT. Next part of the project was to study various planning and localization algorithms and to make a proposal of a functional solution, allowing the robot to participate in the competition. To be specific, the goal of this work was to use the acquired knowledge for implementation of an antonomous software so the robot can start in the year 2010 race. The solution also included several related mechanical modifications. The final solution fulfills all the competiton rules and is capable of taking part in this year's plant.