| Volume 4, Number 6, Article 8, Pages 488-499 |
doi:10.1167/4.6.8 |
http://journalofvision.org/4/6/8/ |
ISSN 1534-7362 |
Coarse scales, fine scales, and their interactions in stereo vision
Bart Farell |
Institute for Sensory Research, Syracuse University,
Syracuse, NY, USA |
|
Simone Li |
Institute for Sensory Research, Syracuse University,
Syracuse, NY, USA |
|
Suzanne P. McKee |
Smith-Kettlewell Eye Research Institute,
San Francisco, USA |
|
Abstract
Human stereo vision can resolve remarkably small depth differences between two stimuli, but the smallest resolvable difference is usually that between stimuli located near the plane of fixation. As distance from this plane increases, so does the smallest detectable increment in disparity. We examined this loss of resolution by comparing disparity discrimination thresholds for single-scale and multi-scale stimuli as a function of the pedestal disparity. For single-scale gratings, disparity thresholds display phase constancy; thus, their spatial thresholds vary reciprocally with grating spatial frequency. For multi-scale gratings, with components separated in frequency by two or three octaves, disparity thresholds display two types of interaction between coarse-scale and fine-scale components: facilitation when pedestal disparities are moderate and interference when they are large. The facilitation extends the disparity range that yields the low thresholds associated with fine-scale components, limiting the loss of disparity resolution for multi-scale stimuli.
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|
History
Received May 16, 2003; published June 10, 2004
Citation
Farell, B., Li, S., & McKee, S. P. (2004). Coarse scales, fine scales, and their interactions in stereo vision.
Journal of Vision, 4(6):8, 488-499,
http://journalofvision.org/4/6/8/,
doi:10.1167/4.6.8.
Keywords
stereo vision, depth perception, stereoacuity, increment thresholds, coarse-to-fine interactions
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Multi-scale processing allows a division of labor in
the analysis of stereoscopic depth. Disparity-sensitive mechanisms tuned to high
spatial frequencies can respond selectively to small depth differences between
objects near the horopter, whereas mechanisms tuned to lower-frequencies can
respond to larger depth differences over a greater range. Because of the
difference in the receptive-field sizes of these mechanisms, this division of
labor is often referred to as the size-disparity correlation (Felton, Richards,
& Smith, 1972; Marr
& Poggio, 1979; Schor & Wood, 1983;
Schor, Wood, & Ogawa, 1984; Smallman & MacLeod, 1994). Objects in natural images
generally contain a broad range of frequencies and if an object has disparity
D, then all of its
frequency components have disparity
D.
Despite the size-disparity correlation, however, we typically see objects
with large disparities as coherent; we do not usually see the object’s
features smeared across depth planes in an order determined by their
spatial-frequency content (Boothroyd & Blake, 1984; Farell & Li, 2004). Evidently, the response of
low-frequency (coarse) mechanisms alters the response of high-frequency (fine)
mechanisms to large disparities.
In the 25 years since Marr and Poggio’s 1979 paper, the idea that different scales
interact in stereopsis has been highly influential, yet has gathered sparse
empirical support beyond that provided by object appearance. Here we show
evidence for cross-scale interactions that extend the precision of disparity
discrimination without biasing perceived depth. Countering these benefits is a
greatly reduced discriminability for some stimuli at large standing
disparities. Coarse-to-fine matching-range shifts
In proposing a solution to the correspondence problem,
Marr and Poggio ( 1979) suggested
unidirectional, coarse-scale-to-fine-scale interactions. These interactions
overcome stereo matching-range limitations built into the size-disparity
correlation. In Marr and Poggio's cross-channel bootstrapping operation,
mechanisms tuned to low frequencies detect a disparity and then pull the
matching range of mechanisms tuned to higher frequencies to this disparity. In
particular, vergence eye movements initiated in response to disparities
registered by low-frequency mechanisms bring the residual disparity into the
range of the higher-frequency mechanisms, whose matching range would otherwise
fall short. Other versions implement a similar normalization of input to
higher-frequency channels neurally instead of through eye movements (Nishihara,
1984; Quam, 1987).
Microscopes with coarse and fine adjustments implement
the Marr and Poggio strategy. The coarse adjuster shifts the range of the fine
adjuster. Focusing with each in turn allows efficient and precise selection of
the desired depth plane. Yet there is little to suggest that the human visual
system operates similarly, despite the advantages coarse-to-fine interactions
would seem to confer. A shift in the fine-scale matching range would lessen the
correspondence problem by eliminating potential false matches confronting
high-frequency mechanisms. However, humans can perceive stereoscopic depth,
including transparency mediated by high-spatial-frequency components, in stimuli
flashed too briefly for eye movements (Prazdny, 1987; Rohaly & Wilson, 1993; Farell & Li, 2004). And human vergence changes can be
initiated by high-frequency stereograms whose disparities exceed the half-cycle
limit (Frisby & Mayhew, 1980;
Mowforth, Mayhew, & Frisby, 1981; but
see Howard & Rogers, 1995).
Physiological support for coarse-to-fine disparity interactions has been
reported recently (Menz & Freeman, 2003), though the evidence is indirect,
dependent on measures (such as latency) correlated with coarse-versus-fine
tuning rather than dependent on coarse-to-fine interactions, and ambivalent in
the most direct measures (strength vs. number of coarse-to-fine and
fine-to-coarse
connections).
In addition to easing the correspondence problem,
matching-range shifts should also increase disparity resolution off the
horopter. If unshifted, mechanisms tuned to high frequencies should contribute
to disparity discrimination only near the horopter. If shifted, they could
contribute even at large standing disparities, where their fine resolution ought
to facilitate the discrimination of depth between multi-scale stimuli. Evidence
for such facilitation has been sought in disparity increment thresholds as a
function of the standing, or pedestal, disparity (Rohaly & Wilson, 1993; Smallman & MacLeod, 1997). However, it is not entirely
clear what the shift hypothesis predicts for these thresholds. It has usually
been reasoned that the hypothesis calls for flat increment threshold functions:
At all pedestals, the disparity increment threshold should be limited by the
stereo resolution of the channel that is most sensitive at a pedestal of zero,
that is, the range-shifted fine-scale channel (Rohaly & Wilson, 1993). The idea is that a sequence of
shifts, oculomotor or neural, would cancel the disparities resolvable at all but
the finest scale, reducing the effective pedestal disparity to zero. In
practice, however, a coarse channel is a noisy guide for estimating disparity. A
shift applied to fine channels will be limited in accuracy by the disparity
resolution of coarse channels, and the coarse-channel resolution is assumed to
be crude. That’s one reason for having coarse-to-fine interactions in the
first place.
Consequences of a propagation of errors from
coarse-to-fine channels are sketched in Figure
1. Thresholds as a function of pedestal disparity are shown in Figure 1a for independent fine and coarse channels.
The open circle marks the disparity threshold (vertical axis) for a stimulus
with zero pedestal. In Figure 1b and 1c, the coarse-channel disparity estimate shifts
the disparity range of the fine channel. An accurate estimate by the
low-resolution coarse channel ( Figure 1b) shifts
the disparity range so it is centered on the stimulus disparity. The result is a
threshold equal to the threshold at a pedestal of zero. However, an imprecise
estimate by the coarse channel shifts the fine-channel matching range
non-optimally. The result of Weber-limited resolution would be increment
thresholds that increase as the pedestal grows larger ( Figure 1c). Still, the increase should be no
greater than that found for a coarse-scale stimulus alone.
Figure 1. Coarse-to-fine matching range
shifts. a. Disparity increment thresholds are typically smallest on a disparity
pedestal of zero and increase with pedestal size. For near-horopter
discriminations, the lowest threshold is mediated by fine-scale (high-frequency)
channels (circle). b. A range-shifted fine channel, if shifted by the stimulus
disparity, will yield the same threshold as is found near the horopter. The
dotted line gives the resulting flat increment threshold function. c. A fine
channel shifted imprecisely will yield a higher threshold than found near the
horopter. The increment threshold function in this case will not be flat. If the
shift error is correlated with the pedestal, as predicted by the rising
thresholds for the coarse channel, then the increment threshold function will be
monotonically increasing.
Tests
of the coarse-to-fine hypothesis seem to render such details moot. Not only are
threshold functions for coarse-plus-fine stimuli not found to be flat, but there
is also little evidence that the presence of fine stimulus components confers an
advantage, driving thresholds below the level obtained with coarse components
alone. There is, in fact, evidence of a disadvantage. Smallman and MacLeod ( 1997) combined two filtered random-dot
samples having center frequencies of 2 and 8 c/d. Disparity thresholds for this
compound stimulus were generally
higher than
those for the low-frequency stereogram alone, especially at large disparity
thresholds, just the opposite of what is expected from a matching-range shift.
Rohaly and Wilson ( 1993) have also
examined increment thresholds for low- and high-frequency combinations and found
no evidence of the facilitation expected from coarse-to-fine interactions.
Increment thresholds are also little affected by a two-octave frequency
difference between parallel, non-overlapping difference-of-Gaussian bars
(Siderov & Harwerth, 1993).
Yet while superimposed low- and high-frequency patterns, two octaves apart,
showed no interaction in the detection of disparity increments in the Rohaly and
Wilson ( 1993) study, they did restrict
the fusion range. The restriction was asymmetric, being centered on the
disparity of the low-frequency grating, and was coarse-to-fine: Low frequencies
restricted the range for high frequencies, not the reverse (Wilson, Blake, &
Halpern, 1991; Rohaly &
Wilson, 1993). 1
Figure 1 implies that
coarse-to-fine interactions should occur at moderate to large disparities. At
small disparities fine-scale channels alone should mediate stereo performance.
Thus at small disparities the coarse-to-fine hypothesis is indistinguishable
from an independent-channel model in predicting no interaction. Support for
independence comes from Heckmann and Schor ( 1989), who found that disparity
detection thresholds for compound stimuli with zero pedestal equaled the
smallest of the component thresholds. This lowest-threshold component, however,
could be the one with the higher spatial frequency or the one with the lower
spatial
frequency. Whence channel interactions?
We’ve seen that while object appearance suggests
some sort of coarse-to-fine stereo interaction, psychophysical performance seems
consistent with channel independence (and where interactions occur, with channel
interference [Smallman & MacLeod, 1997]). Evidence has not favored Marr
and Poggio’s shift theory or other means of facilitating stereo
performance through cross-scale interactions.
We looked for evidence of interactions in disparity
discriminations using stimuli that differed in three ways from those of previous
studies: The spatial-frequency bandwidth was narrower, the luminance contrast
was lower, and the pedestal range included phase disparities that were smaller.
The purpose of this parameter selection was to restrict the set of active
channels and to examine pedestals for which no comparable data currently
exist.
We have previously measured disparity increment
thresholds for single-frequency gratings similar to the component gratings used
here (Farell, Li, & McKee, 2004).
The threshold function did not fit the classical mold. Phase-disparity pedestals
up to about 60° had only a small
effect on threshold, and the effect of pedestal size was non-monotonic; the
threshold function usually showed a dip, with thresholds reaching a minimum at
pedestals of 20-30° on either side
of the horopter. Beyond a pedestal of approximately
60°, the increment threshold
function rose rapidly for these stimuli, and phase disparities beyond about
120° often produced diplopia and
ambiguous depth. It is clear from these and other data (Ogle, 1952; Badcock & Schor, 1985; McKee, Levi, & Bowne, 1990) that disparity discrimination
passes through several regimes as the pedestal grows from small to large.
Thinking that channel interactions are more likely to be bound to some of these
pedestal ranges than to others, our interest lies particularly in moderate
disparities in the region between the zero-disparity pedestal at which Heckmann
and Schor ( 1989) found independent
processing of component frequencies and the relatively large pedestals at which
Smallman and MacLeod ( 1997) found
interference.
For components separated in spatial frequency by two or
three octaves, we found that increment thresholds can be substantially lower
than they are for either component grating alone. These results offer partial
support for coarse-to-fine stereo interactions of the sort proposed by Marr and
Poggio ( 1979), implemented neurally
(Nishihara, 1984; Quam, 1987), matching-range shifts, or related
processes, not previously confirmed in data. For two-component compound
gratings, this cross-scale facilitation occurs over a limited disparity range
and gives way to cross-scale interference at large pedestal values. Adding
components extends the disparity range over which facilitation is observed, with
thresholds approaching those for random-dot patterns with flat spatial-frequency
spectra. Thresholds for random dots increase exponentially with standing
pedestal, but still are low compared with grating thresholds. Thus, a
high-frequency stimulus produces low disparity thresholds over a small pedestal
range and adding a low-frequency component extends the pedestal range over which
these low thresholds are found. As a result, reasonably fine disparity
discrimination is possible for multi-scale stimuli even at a considerable
distance from the
horopter.
A bipartite Gabor patch was the stimulus. The lower
half was presented at the pedestal disparity. The upper half was presented
either at the pedestal-plus-increment disparity or at the
pedestal-plus-decrement disparity, with increments and decrements equal in
absolute value. The observer judged the upper half-Gabor as “near”
or “far” relative to the lower half-Gabor.
The Gabor patches were either simple or compound. The
former had a single-frequency carrier and the latter had a two-frequency carrier
with a two- or three-octave difference between components. Carrier orientation
was vertical. For compound Gabor patches, sinusoidal luminance modulations with
spatial frequencies of 0.5 c/d and either 2.0 or 4.0 c/d were added and their
disparities yoked in space, so the phase disparities of the components were
proportional to their frequencies. The absolute phase of each sinusoidal
component was independently randomized from trial to trial identically for the
two eyes, changing the composite luminance profile unpredictably between trials
without affecting disparity. The top and bottom halves of the Gabor patch were
then separated by a sharp-edged horizontal band, 18’ high, which was set
to the background luminance, and the carrier in the upper and lower halves given
different disparities. Thus the cyclopean images of the upper and lower
half-Gabors were in phase. Figure 2 shows an
example.
Figure 2. A near-threshold bipartite
stereo Gabor patch with compound carrier. Upper and lower half-Gabors differ in
disparity, which in both cases is nonzero.
All the stimuli had a Gaussian envelope with a horizontal and vertical space constant of 2° of visual angle (σ
= √2°). The Gaussian was truncated at
±4°. Thus compound grating
patches had the same envelopes as simple grating patches, whatever their spatial
frequencies. The spatial-frequency bandwidth of the Gabor patches, measured at
half height and full width, was approximately 0.8 octave at 0.5 c/d, 0.2 octave
at 2 c/d, and 0.1 octave at 4 c/d. Contrast of each carrier frequency was
0.1.
Left and right half-stimuli were displayed on the two
sides of a flat-screen, luminance-calibrated CRT. Viewing was through a mirror
stereoscope at an optical distance of 93 cm. The visible screen area on each
side subtended approximately 10.5°
(horizontal) × 16° (vertical)
in visual angle and pixels subtended 1.5’ on a side. The grating patches
were centered on black fixation squares, 6’ of visual angle on a side,
which were continuously visible throughout the run of trials. The Gaussian
window and the fixation square had a disparity of zero; the only nonzero
disparities were interocular carrier phase shifts. The screen outside the
stimulus boundaries had a uniform luminance of approximately 20
cd/m2,
matching the mean stimulus luminance.
Stimulus presentation was controlled by a MATLAB
program incorporating the Psychophysical Toolbox extensions (Brainard, 1997; Pelli, 1997). An attenuator (Pelli & Zhang, 1991) combined the video outputs to drive
the monitor’s green gun with a luminance resolution of about 12 bits; the
frame rate was 75 Hz, and each frame was presented to both eyes.
The lower half of the Gabor patch was presented at the
pedestal disparity. The upper half was presented either at the
pedestal-plus-increment disparity or at the pedestal-plus-decrement disparity.
All components of compound gratings had the same spatial disparity. Observers
judged the upper patch as “near” or “far” relative to
the lower patch. The pedestal was fixed throughout a run; an increment or a
decrement was presented at random from trial to trial.
Observers initiated a trial with a mouse click. A
quarter-second later nonius lines, positioned above and below the fixation
square, disappeared (but the fixation square remained). The bipartite Gabor
patch appeared 125 ms later and remained on the screen for 150 ms. Responses
were made by clicking labeled buttons that appeared on-screen 0.5 s after
stimulus offset. A subsequent click initiated the following trial. Observers
were instructed to begin a trial only after nonius alignment and to remain
fixated on the central square until the response screen appeared. At the end of
each trial, a tone gave the observer feedback about whether the response was
correct. A run consisted of 40 trials.
Trial-to-trial disparity increments were under the
control of the QUEST algorithm (Watson & Pelli, 1983; King-Smith, Grigsby, Vingrys, Benes,
& Supowit, 1994) with a threshold
criterion of 82% correct. The resolution of the QUEST staircase and of the
threshold measurements was equated in phase disparity for simple and compound
gratings.
There were three observers, including one of the
authors. Two observers were highly experienced in stereo vision experiments, and
two were naïve about the purposes of the experiments. All had normal or
corrected-to-normal acuity and normal stereo
vision.
Figure 3
shows disparity increment thresholds as a function of pedestal value for
0.5-c/d, 2-c/d, and 0.5+2-c/d Gabor patches for two observers. Disparities are
expressed in spatial units (minutes of visual angle) and in phase units (phase
angle in degrees for 0.5 c/d and compound gratings, one-quarter of the phase
angle for 2-c/d gratings). Pedestals ranged up to 60 min for one observer ( Figure 3a) and 40 min for the other ( Figure 3b). Data for the third observer (with
pedestals to 40 min) were
similar. Figure 3. Disparity increment thresholds
as a function of disparity pedestal for simple and compound Gabor patches with
spatial frequencies of 0.5 and 2 c/d. Lower and left scales give spatial
disparity pedestal and threshold in minutes of visual angle; upper and right
scales give phase disparity pedestal and threshold in degrees (or in the case of
2 c/d, degrees ÷ 4). a and b. Thresholds for full range of pedestals for
two observers. c and d. Thresholds for low and moderate pedestals to show
detail. Error bars are ±1
SEM.
Looking first at simple-grating data, thresholds for
the 0.5-c/d grating are flat or dip slightly, with little or no increase,
through pedestals of 20’
(60° phase disparity). This is
typical of phase disparity increment thresholds for simple grating patterns
(Farell et al., 2004). As the
pedestal becomes larger, thresholds increase linearly (with a slope of
approximately 1 on a log-log plot). The 2-c/d grating goes through a pedestal
disparity range of 2 cycles for one observer ( Figure
3a) and 1.33 cycles for the other ( Figure
3b). Thresholds are low at small disparities (and about equal in phase
disparity to the 0.5-c/d thresholds), and then rise precipitously as the
pedestal approaches 15’, a disparity of one half cycle. The curve then
reverses (threshold disparity grows smaller as the pedestal increases between
180° and
360°) before the pattern of
thresholds repeats in the second cycle of pedestal disparity. The symmetry of
the threshold of the function mirrors the periodicity of the waveform; for
example, pedestals of 10’ (120°) and 20’ (240°), which
give rise to similar thresholds, are the same in absolute value. However, the
stimuli at these two disparities appear on opposite sides of the fixation plane.
Thresholds for the compound grating can be broken down
into three main segments. Data for the first segment, with pedestals below
20’ (60° phase angle), are
shown again for more detailed viewing in Figure
3c and 3d. Here thresholds for the compound
grating are well below the thresholds for the low-frequency grating (e.g., Figure 3c means: 2.1’ vs. 4.3’) and are
similar to thresholds for the high-frequency grating at the smallest pedestals
( Figure 3c high-frequency mean for pedestals
<
10’: 1.85’). The variability of threshold measurements is
also similar for the compound grating and the 2-c/d grating over this range of
pedestals; it is generally smaller than the variability for 0.5-c/d gratings,
even after normalizing for the 2:1 ratio of thresholds.
In the next segment, covering pedestals of 20’ to
30’, thresholds for the compound grating approximately equal those for the
0.5-c/d grating ( Figure 3a and 3b). The upper limit of this pedestal segment,
30’, is a 90° phase
disparity for these gratings. In the final segment, covering pedestal
disparities beyond 30’—one cycle of the 2-c/d
grating—interference prevails: Thresholds for the compound grating are not
limited by the thresholds of either component, and are higher, in both mean
value and variability, than in simple-grating thresholds.
Thresholds for 0.5- and 4-c/d gratings appear in Figure 4 for the same two observers. Compound
gratings were tested at pedestals from 0’ to 20’, taking the 4-c/d
component of the compound grating through more than a full cycle of disparity
for one observer ( Figure 4a), and from 0’
to 30’, two cycles, for the other ( Figure
4b). Thresholds for the 0.5-c/d grating are those plotted
in
Figure 3. For the 4-c/d
grating, thresholds are low at small pedestals and peak at a pedestal of
7.5’, a phase disparity of
180°.
They resemble a scaled version of the 2-c/d data ( Figure 3), having roughly half the spatial
thresholds and therefore similar phase
thresholds. Compound
grating thresholds equal the 4-c/d thresholds at near-zero pedestals and
increase to match the 0.5-c/d thresholds at pedestals of 15’ or
20’. At
intermediate pedestal values, the comfpound threshold is below both component
thresholds and at greater pedestals; beyond a cycle or so of the
higher-frequency component, it exceeds them
both. These results are
similar to those for 0.5 +2-c/d
compounds, but occur within a compressed spatial pedestal range, scaled downward
by approximately a factor of 2, reflecting the 2:1 ratio between the stimuli in
their high-frequency components.
Figure 4. Disparity increment thresholds
as a function of disparity pedestal for simple and compound Gabor patches with
spatial frequencies of 0.5 and 4 c/d. Scales are as in Figure 3; for 4-c/d stimuli, phase angles should be
multiplied by 8. a and b. Thresholds for two observers. Error bars are ±1
SEM.
Whether the discrimination of depth of natural objects
shows the facilitation seen here at moderate pedestals must be considered in
light of the interference seen at large
pedestals. From our
data the facilitation is roughly a factor-of-two effect—a compound grating
has a similar threshold as its high-frequency component grating at roughly
double the pedestal disparity. . This extension of the range of fine-scale
processing could confer important performance advantages–unless it is
cancelled by cross-scale
interference. Our
two-frequency data give no indication of how a more continuous frequency
spectrum might affect the balance between facilitation and
interference. One
possibility is further
facilitation. This
could happen if interactions occurred only between mechanisms selective to
nearby scales and only within limited disparity
ranges. Then the effect
of multiple components could be a cascade of local interactions that is felt
most strongly at the finest
scale. This would occur
if –to use the Marr & Poggio 1979, theory as an example– the
coarsest-scale mechanism shifted the matching range of the next coarsest, which
in turn shifted the next, and so
on. The finest scale
would receive the total accumulated shift, which could exceed the shift possible
with two-frequency stimuli.
Alternatively, the interference seen between two frequencies may be
enhanced by the addition of
more.
To find out, we measured increment thresholds for the
remaining combinations of the components we have
used:
2 +4 c/d (one observer) and the
three-component compound grating,
0.5 +2 +4
c/d (two observers).
These sinusoids were combined with equal contrasts into bipartite Gabor
patches. Relative
phases between the components were randomized identically for upper and lower
half-Gabor at each
presentation. The
procedures followed those used
earlier. Figure 5 compares the thresholds with those for the
other compound Gabor stimuli ( Figures 3 and 4) and for Gaussian-distributed random-dot
stereograms, also with zero-disparity envelopes, gathered on the same observers
(and reported in Farell et al., 2004).
Figure 5. Disparity increment thresholds
for 0.5+2+4-c/d Gabor patches and random-dot stereograms (a and b) and 2+4-c/d
Gabor patches (a only) as a function of disparity pedestal. Data from 0.5+2-c/d
and 0.5+4-c/d stimuli from Figures 3 and 4, respectively, are shown for comparison. Upper
and right phase disparities are scaled to the period of gratings containing
0.5-c/d components. Error bars are ±1
SEM.
The three-component compound produces the familiar
pattern: facilitation
at moderate pedestals where thresholds for the compound are below all three
component thresholds, and interference at large pedestals (approximately one
period of the higher frequency) where they exceed all component
thresholds. Figure 5 shows that with the addition of
components, the compound grating function progressively flattens and approaches
the thresholds for the flat-spectrum random-dot pattern over the pedestal range
yielding facilitation.
Over most of this range, the three-component function
is at or below the lower envelope of the two-component
functions. It dips
below the threshold values for the two-component subsets at pedestals
proportional to the period of the component not shared by them. Thus, the
absence of one of the three components leads to threshold elevation over a
pedestal range related to the component’s period. Interference is strong
when it comes, but facilitation dominates within regions where both facilitation
and interference occur among the two-component combinations. Yet there is no
evidence of interference in the data for the
2+4-c/d gratings. Here, thresholds
over the substantial range of pedestals tested (a phase angle of
150° of the
180° possible) were similar to
those for RDSs, which increased modestly, even as the pedestal size extended
beyond Panum’s
area.
Disparity increment thresholds are usually described as
rising steeply with the distance of the stimulus from the
horopter. The steep
increase is taken as showing that fine disparity discrimination is a
specialization of near-horopter
vision. This view is
entirely consistent with Marr and Poggio’s ( 1979) coarse-to-fine model, which achieves
multi-scale stereo vision through eye movements that bring the horopter to the
stimulus. It is also
consistent with the size-disparity correlation, whereby high-frequency stimulus
components contribute to disparity discrimination only near the horopter and
independently of low-frequency
components.
This view needs to be reevaluated.
Our data show that stimulus components of different scales do not contribute
independently to the threshold function, their contributions to disparity
discriminations are not restricted to particular ranges of disparities, and the
disparity increment threshold function is not necessarily particularly
steep. Spatial disparity thresholds for
single-frequency gratings vary reciprocally with frequency; the thresholds
display phase-disparity
constancy. We found
that combining pairs of single-frequency gratings has two interactive effects.
First, facilitation: At moderate pedestals, thresholds for compound gratings are
lower than thresholds for both component gratings. Second,
interference: At large
pedestals compound-grating thresholds are higher than both component
thresholds.
At small and moderate pedestals, disparity
discrimination thresholds for compound gratings in our experiments are as low or
lower than thresholds for the component gratings. Importantly, there is no
super-resolution: In no case does the threshold for a compound grating fall
below the lowest threshold measured for the components (for related results from
occlusion and transparency junctures, see Farell, 1998, 2003,
and van Ee, Anderson, & Farid, 2001).
This result suggests that the mechanism limiting thresholds for high-frequency
components also limits thresholds for compound gratings. These thresholds differ
in the pedestals at which they are found, the compound-grating thresholds being
displaced toward larger pedestals. This is consistent with a shift of the
high-frequency matching range toward larger disparities, as in Figure 1, but doesn’t imply it; other
explanations are possible.
Thresholds for
gratings—both single-frequency and multi-frequency gratings—are high
overall compared to thresholds for RDSs. The RDS threshold function is as low as
that of any of these components and flatter over a larger range of disparities
than any of them, yet the threshold functions for the RDSs of Figure 5 are classically exponential (Farell, Li,
& McKee, 2004). Grating
thresholds systematically approach this shallow exponential function as
additional spatial-frequency components are added. Thus, while the ability of
humans to resolve disparity differences generally falls off as stimuli move away
from the horopter, the components of a multi-scale stimulus do not contribute to
this fall-off independently. The components interact, attenuating the threshold
elevation at moderate pedestals. For broadband patterns (even those showing an
exponential increase in threshold with standing disparity), off-horopter depth
discrimination can be quite good, better than that for the individual stimulus
components.
Facilitation was not found in earlier studies, perhaps
only because it was not sought in the right place. Facilitation appears in our
data over a range of pedestals not systematically examined earlier. Smallman and
MacLeod ( 1997) used component
frequencies of 2 and 8 c/d. The smallest pedestal was 4’, a phase
disparity of 192°, for their
high-frequency component (there was no zero-pedestal condition). Rohaly and
Wilson ( 1993) used frequencies of 3
and 12 c/d for one observer and 2 and 8 c/d for the other. The smallest nonzero
pedestal, 2’, corresponds to phase disparities of
144° and
96° for the two high-frequency
components. Only these smallest of the standing disparities lie within the range
yielding unambiguous evidence of threshold facilitation in our data. Indeed, the
only hint of facilitation in these earlier studies is at the smallest pedestal
values.
Facilitation may also be limited to disparities that
are consistent with coherent objects, whose components all have equal spatial
disparities. If only the lower-frequency component has a nonzero disparity, the
threshold for detecting disparity in a compound grating is higher than the
threshold for this component grating presented alone (Li & Farell, 2002). And if both components have nonzero
disparities that are equal in phase rather than space, compound-grating
thresholds are higher than thresholds for either component grating (Li &
Farell, 2002).
Disparity thresholds for simple gratings rise rapidly
when a large pedestal is increased further, above phase disparities of about
60°. For compound gratings,
large-pedestal thresholds can exceed the highest of the components thresholds.
Such interference has been seen previously in the two-frequency increment
thresholds of Smallman and MacLeod ( 1997), and may have contributed to the
steep threshold increases typically seen at large pedestals in previous studies
of disparity increments. The scale or spacing of spectral components may be
important for this interference effect, because it is not evident in the data
for 2 +4-c/d gratings.
It might be supposed that interference occurred when
compound gratings weren’t fused. At large disparities, squarewave gratings
appear as diplopic, whereas sinewave gratings of the same fundamental frequency
are seen as single (Kulikowski, 1978).
So, the high frequencies in our compound gratings might have narrowed the
fusional range, beyond which diplopia might have elevated thresholds. However,
Rohaly and Wilson ( 1993) found that
diplopia thresholds for superimposed D6 patterns, one of high frequency and one
of low, were generally as high as the threshold for the low-frequency D6 alone
(and in one case actually higher), provided that both patterns had the same
disparity. This provision held in our study – all components had the same
spatial disparity – and neither diplopia nor depth reversals were noted by
our observers. Moreover, our RDSs were outside Panum’s area at the largest
pedestals, yet thresholds remained modest.
RDSs may escape interference because of their
low-frequency components, below the 0.5 c/d of the compound gratings, because of
their aperiodic spatial structure, or because of the continuity of their
spatial-frequency spectra. It is known that the presence of low frequencies, as
well as high, contributes to fine stereoacuity for broadband patterns
(Westheimer & McKee, 1980).
Low-frequency contrast-envelope disparities can extend the disparity range of
higher-frequency carrier components (McKee, Verghese, & Farell, 2004; Stelmach & Buckthought,
2003). However, in our study,
the low frequencies would be those of the RDS pattern; the envelope’s
disparity was fixed at zero. Still, the envelope is a possible source of
interference. Specifically, the zero-disparity signal of the gratings’
Gaussian envelope, possibly transduced by a second-order pathway (McKee et al.,
2004), could have interacted
with the nonzero disparity signal of the low-frequency (0.5 c/d) component of
the compound grating. The 2 +4-c/d
grating could have escaped interactions with the envelope because of its
higher-frequency range. However, this leaves unanswered the question of why the
large-pedestal thresholds for the 0.5-c/d grating are any less than those for
the 0.5 +2-,
0.5 +4-, and
0.5 +2 +4-c/d
gratings. Whatever the source of this interference effect, thresholds for RDSs
and 2 +4-c/d gratings appear not to be
influenced by it. Therefore, the interference seen in the data for most of the
compound gratings is not a general property of disparity discriminations of
multi-scale stimuli.
Disparity discrimination and stimulus appearance
Consider a compound grating with a disparity of
20’. For component frequencies of 0.5 and 2 c/d, the respective phase
disparities would be 60° and
240°. If viewed separately, the
component gratings would appear on opposite sides of the fixation plane. If
viewed simultaneously and processed independently, they would appear as separate
transparent surfaces, but this is not what observers saw. Over the full range of
pedestal disparities tested, all of our observers reported seeing the
0.5 +2-c/d and
0.5 +2 +4-c/d
gratings as cohering in depth. 2 Depth
coherence has been reported also in earlier studies for other component
frequencies with two-octave separations (Rohaly & Wilson, 1993; Li & Farell, 2002). The relative depth of 0.5-c/d and
4-c/d components (a three-octave separation) was harder to judge at the short
durations used here, but it was not obviously different from the other cases. 3 Any of several processes (not necessarily
distinct from one another) could bring grating components into the same apparent
depth plane, yielding a perception of coherent depth. These include disparity
averaging, depth capture, restriction of the fine-scale fusional range, and a
shift in the fine-scale matching range. Not only could these processes result in
a coherent-depth percept, but also they could conceivably facilitate disparity
discriminations.
Wilson
et al. ( 1991) and Rohaly and
Wilson ( 1993) showed that a
low-frequency stimulus with fixed disparity restricted the disparity range over
which a superimposed high-frequency stimulus could be fused, lowering the
diplopia threshold. Might a contraction of the fusional range be linked to the
facilitation for detecting disparity increments seen in the present data?
Apparently not. As noted above, when Wilson et al. ( 1991) presented high- and
low-frequency patterns at the same disparity, diplopia thresholds were at least
as high as those for the low-frequency pattern alone. And when the disparities
of the patterns were manipulated independently, the fusion range of the
high-frequency pattern was limited, but there was no consistent effect on
stereoacuity (Rohaly & Wilson, 1993). So, the contraction of the
fusional range does not seem to intersect the facilitation of disparity
discriminations reported here.
McKee and Mitchison ( 1988) binocularly offset a row of
evenly spaced dots by one inter-dot period. Except at the row’s ends, each
dot in one eye had a zero-disparity match in the other eye. Still, the entire
row appeared at the depth given by the disparity at the edges (also see
Ramachandran & Cavanagh, 1985;
Ramachandran, 1986). Edge offsets also
‘capture’ sinusoidal gratings (McKee et al., 2004). Low-frequency grating
disparities might act analogously, capturing higher-frequency gratings. This
would give a compound grating a single perceived depth that could extend beyond
the high-frequency depth range, much as if the fine-scale matching range had
been shifted. Indeed, our 0.5 +2-c/d
gratings were seen in a single depth plane at all pedestal disparities. However,
threshold facilitation appeared over only part of this range. Thresholds for the
0.5 +2-c/d grating were low between
pedestals of 0’ and 15’ and much higher between pedestals of
30’ and 45’, yet the 2-c/d component had the same
modulo-360° phase disparities over
both pedestal ranges and appeared in the same depth plane as the 0.5-c/d
component over both ranges. Thus depth capture, like restriction of the range of
fusion, should be regarded as distinct from the interactions that facilitate
disparity discriminations.
This argument applies as well to disparity
disambiguation (Smallman 1995; Mallot,
Gillner, & Arndt, 1996; Tsai
& Victor, 2003). However,
disambiguation, defined broadly, suggests a different way of looking at
single-scale disparity increment thresholds and their link to multi-scale
thresholds. Suppose the single-scale threshold function is shaped by two
distinct sources of internal noise. Let the magnitude of the single-scale
disparity increment signal be constant across the
±180°
range of pedestal disparities. Let the magnitude of the first of these noise
sources be similarly constant and that of the second increase with disparity
such that the overall single-scale signal-to-noise ratio falls and thresholds
rise as the pedestal nears and exceeds
90°. This second, increasing noise
source might be correlated with stimulus appearance, including diplopia and
depth ambiguity. Indeed, such perceptual effects could directly degrade task
performance by increasing uncertainty about stimulus appearance. If some process
(disambiguation) uses the low-frequency content of compound gratings to nullify
this second source of noise (e.g., by imposing single vision or a consistent
depth interpretation), then the remaining noise would give a constant
signal-to-noise ratio and the disparity-discrimination function would be roughly
flat across a broad range of pedestals, as seen for compound gratings on
pedestals having high-frequency phase disparities between
±180°.
By this scenario, the threshold facilitation observed for multi-scale stimuli is
best understood as a consequence of eliminating an internal noise that arises
when the stimulus occupies a narrow frequency band.
Disambiguation depends, presumably, on a bias for
coherent depth, on the assumption that if the ambiguous disparities of stimulus
components are consistent with the components having the same depth, then they
probably do have the same depth: for example, 0.5- and 2-c/d gratings with phase
disparities of 60° and
–120°
( =
240°). This is an adaptive bias in
environments in which most objects are opaque, and each visual direction has a
single spatial disparity associated with it. We have shown elsewhere that a bias
toward coherence, as opposed to transparency, is reinforced by object
disparities that are relatively small and near horizontal (Farell & Li, 2004). Disparity discrimination and perceived depth
Given that
the components of a compound grating appeared to cohere in depth, what was that
depth? Depth-capture implies that the compound is seen at the depth of the
“capturing” component, presumably the one with lowest frequency. The
same perceived depth should result from a restriction of the fusional range of
the higher-frequency component or a shift in its matching range. By contrast,
disparity averaging (Schumer & Ganz, 1979; Parker & Yang, 1989; Rohaly & Wilson, 1994) implies a compromise between the
perceived depths of the separate components. As a result, perceived depth could
vary non-monotonically with disparity. Reversals would occur as the phase
disparity of the higher-frequency component passed through integral multiples of
180°. For purposes of disparity increment detection, a reduced perceived
depth at some pedestal might make the pedestal functionally equivalent to one of
smaller size. The apparent reduction in depth could, conceivably, account for
threshold facilitation, at least over part of the pedestal range.
To investigate the matter, and to determine what
consequences the facilitation of disparity discriminations has for perceived
depth, measures of perceived depth were made using bipartite Gabor patterns. The
lower half-Gabor contained a compound
F
+
4F grating
(0.5+2 c/d). The upper half-Gabor
contained only F,
in cyclopean phase with the
F component of the
compound. The disparity of the compound grating was fixed during a run of
trials, while the disparity of the simple grating varied from trial to trial in
a constant-stimulus procedure. Two observers judged whether the upper or the
lower half of the pattern was more distant. The set of comparison disparities
was selected for each observer based on preliminary data to generate a
psychometric function, the 50% point
giving the disparity of the simple grating that yielded a perceived-depth match
with the compound grating. Each of the components of the compound had a contrast
of 0.1, as before. The contrast of the
F grating was
initially also 0.1. Additional data were collected with the
F-grating contrast
set to 0.2, a value yielding more nearly equal perceived contrasts for the two
halves of the Gabor patch. This contrast manipulation turned out to be without
effect on perceived depth.
We measured perceived depth for compound gratings with
spatial disparities between 0’ and 20’. It is at a value of
15’ that the phase disparity of the
4 F (2 c/d)
component equals 180°. It is in
this vicinity that we would expect departures from proportionality between
grating disparity and perceived depth to occur, if they occur at all. Figure 6 shows the results. On the abscissa are the
fixed compound-grating disparities and on the ordinate the comparison
simple-grating disparities that yield a perceived-depth match. In all
conditions, perceived depths were very nearly equal when disparities were equal.
There is no hint of a lessening of perceived depth of the compound grating as
the disparity of the higher-frequency component approached or exceeded
180 °.
If anything, the compound grating is judged as appearing slightly farther than
the simple grating at all disparities. Thus the higher-frequency component had
no discernable effect on perceived depth over the range of disparities examined
here, a result consistent with data of Boothroyd and Blake ( 1984) and Schor and Wood ( 1983). Figure 6. Disparity of comparison grating
required to match perceived depth of test grating. The test grating (circles)
was a 0.5+2-c/d Gabor patch, each component having a contrast of 0.1. The
comparison grating was a 0.5-c/d Gabor patch with the same contrast. Lower and
upper abscissas give phase disparities of the 0.5-c/d and 2-c/d test components,
respectively. The ordinate gives comparison phase disparity at perceptual depth
match. The dotted line has a slope of 1. Square and triangle symbols show data
for 0.5-c/d test Gabor patches at contrasts of 0.1 and 0.2, respectively.
Over the same disparity range in which interactions
between coarse and fine scales keep compound-grating disparity increment
thresholds below single-frequency threshold values, they exert no influence on
perceived depth. They change sensitivity without introducing bias. These
findings are consistent with a shift in the fine-scale matching range (Marr
& Poggio, 1979), implemented
neurally (Nishihara, 1984; Quam, 1987). However, a matching-range shift cannot
explain the interference that was also observed in the threshold measurements.
One could suppose that high frequencies shifted the low-frequency matching range
toward smaller disparities, but there is no support for this in data for
diplopia thresholds or perceived depths. Alternatively, as discussed earlier, a
single narrow-frequency-band stimulus might give rise to noise at large
disparities, perhaps associated with diplopia, ambiguous depth percepts, or
equivocal stereo matches. The addition of a disambiguating low-frequency
stimulus, for which the disparity is a smaller phase angle, could attenuate this
noise source and shift threshold disparities to larger pedestal values.
Interference could result from the combined high- and low-frequency noise
sources at disparities that are large on the scale of the lower-frequency
component. This might be testable if external noise could be added selectively
to one or another component of a compound stimulus (Pelli & Farell, 1999).
Supported by National Eye Institute Grants EY12286 (BF)
and EY06644 (SPM). Commercial
relationships: None.
Corresponding author: Bart Farell.
Email: bart_farell@isr.syr.edu.
Address: Institute for Sensory Research, 621
Skytop Road, Syracuse, NY, USA
13244-5290.
Popple and Findlay ( 1999) measured
disparity increment threshold for a central random-dot disk as a function of the
outside diameter of a surrounding random-dot annulus. Both patterns had the same
pedestal disparity. Threshold decreased as the annulus became larger. This was
interpreted as a vergence-driven
cyclopean coarse-to-fine constraint.
The effect persisted at durations well below vergence latency (40 ms), though,
and scale-independent sources of the effect, including interference from the
border of the annulus and the random-dot background, might have been at
play.
Transparency would have been seen if components with a two-octave difference in
frequency also differed from one another in orientation (Farell & Li, 2004).
With stimulus presentations of several seconds, the 4-c/d grating appeared to
drift from the depth location of the 0.5 c/d to a position near the fixation
plane if the compound grating had a positive disparity larger than a few arc
minutes. The 4-c/d grating then appeared transparent. An edge-offset row of dots
can similarly appear to migrate, from the depth specified by the edge disparity
to the fixation plane, during long presentations (McKee et al., 1990). When disparities were negative,
however, the 4-c/d grating appeared immediately in front of the 0.5-c/d grating
and was not seen to drift. Thus, in both cases, the final phenomenal location of
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