The missionary nature of the church; a survey of the Biblical theology of mission.

http://www.archive.org/details/missionarynature013246mbp

CONFIGR: A Vision-Based Model for Long-Range Figure Completion

CONFIGR (CONtour FIgure GRound) is a computational model based on principles of biological vision that completes sparse and noisy image figures. Within an integrated vision/recognition system, CONFIGR posits an initial recognition stage which identifies figure pixels from spatially local input information. The resulting, and typically incomplete, figure is fed back to the “early vision” stage for long-range completion via filling-in. The reconstructed image is then re-presented to the recognition system for global functions such as object recognition. In the CONFIGR algorithm, the smallest independent image unit is the visible pixel, whose size defines a computational spatial scale. Once pixel size is fixed, the entire algorithm is fully determined, with no additional parameter choices. Multi-scale simulations illustrate the vision/recognition system. Open-source CONFIGR code is available online, but all examples can be derived analytically, and the design principles applied at each step are transparent. The model balances filling-in as figure against complementary filling-in as ground, which blocks spurious figure completions. Lobe computations occur on a subpixel spatial scale. Originally designed to fill-in missing contours in an incomplete image such as a dashed line, the same CONFIGR system connects and segments sparse dots, and unifies occluded objects from pieces locally identified as figure in the initial recognition stage. The model self-scales its completion distances, filling-in across gaps of any length, where unimpeded, while limiting connections among dense image-figure pixel groups that already have intrinsic form. Long-range image completion promises to play an important role in adaptive processors that reconstruct images from highly compressed video and still camera images.

Boundary, Brightness, and Depth Interactions During Preattentive Representation and Attentive Recognition of Figure and Ground

This article applies a recent theory of 3-D biological vision, called FACADE Theory, to explain several percepts which Kanizsa pioneered. These include 3-D pop-out of an occluding form in front of an occluded form, leading to completion and recognition of the occluded form; 3-D transparent and opaque percepts of Kanizsa squares, with and without Varin wedges; and interactions between percepts of illusory contours, brightness, and depth in response to 2-D Kanizsa images. These explanations clarify how a partially occluded object representation can be completed for purposes of object recognition, without the completed part of the representation necessarily being seen. The theory traces these percepts to neural mechanisms that compensate for measurement uncertainty and complementarity at individual cortical processing stages by using parallel and hierarchical interactions among several cortical processing stages. These interactions are modelled by a Boundary Contour System (BCS) that generates emergent boundary segmentations and a complementary Feature Contour System (FCS) that fills-in surface representations of brightness, color, and depth. The BCS and FCS interact reciprocally with an Object Recognition System (ORS) that binds BCS boundary and FCS surface representations into attentive object representations. The BCS models the parvocellular LGN→Interblob→Interstripe→V4 cortical processing stream, the FCS models the parvocellular LGN→Blob→Thin Stripe→V4 cortical processing stream, and the ORS models inferotemporal cortex.

Figure-Ground Separation

Air Force Office of Scientific Research (F49620-92-J-0499); Advanced Research Projects Agency (ONR N00014-92-J-4015); Office of Naval Research (N00014-91-J-4100)

A Neural Network Architecture for Figure-ground Separation of Connected Scenic Figures

A neural network model, called an FBF network, is proposed for automatic parallel separation of multiple image figures from each other and their backgrounds in noisy grayscale or multi-colored images. The figures can then be processed in parallel by an array of self-organizing Adaptive Resonance Theory (ART) neural networks for automatic target recognition. An FBF network can automatically separate the disconnected but interleaved spirals that Minsky and Papert introduced in their book Perceptrons. The network's design also clarifies why humans cannot rapidly separate interleaved spirals, yet can rapidly detect conjunctions of disparity and color, or of disparity and motion, that distinguish target figures from surrounding distractors. Figure-ground separation is accomplished by iterating operations of a Feature Contour System (FCS) and a Boundary Contour System (BCS) in the order FCS-BCS-FCS, hence the term FBF, that have been derived from an analysis of biological vision. The FCS operations include the use of nonlinear shunting networks to compensate for variable illumination and nonlinear diffusion networks to control filling-in. A key new feature of an FBF network is the use of filling-in for figure-ground separation. The BCS operations include oriented filters joined to competitive and cooperative interactions designed to detect, regularize, and complete boundaries in up to 50 percent noise, while suppressing the noise. A modified CORT-X filter is described which uses both on-cells and off-cells to generate a boundary segmentation from a noisy image.

3-D Vision and Figure-Ground Separation by Visual Cortex

A neural network theory of :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 arc mutually consistent. Their interactions generate 3-D percepts wherein occluding and occluded object 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, DaVinci stereopsis, a 3-D neon color spreading, completion of partially occluded objects, and figure-ground reversals are analysed. The BCS and FCS sub-systems 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, or FACADE, within area V4. Area V4 is suggested to support figure-ground separation and to interact. with cortical mechanisms of spatial attention, attentive objcect 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 cortex (IT) 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 arc 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 multi-element groupings, and recursive search of simultaneously presented targets.

A Solution of the Figure-ground Problem for Biological Vision

A neural network model of 3-D visual perception and figure-ground separation by visual cortex is introduced. The theory provides a unified explanation of how a 2-D image may generate a 3-D percept; how figures pop-out from cluttered backgrounds; how spatially sparse disparity cues can generate continuous surface representations at different perceived depths; how representations of occluded regions can be completed and recognized without usually being seen; how occluded regions can sometimes be seen during percepts of transparency; how high spatial frequency parts of an image may appear closer than low spatial frequency parts; how sharp targets are detected better against a figure and blurred targets are detector better against a background; how low spatial frequency parts of an image may be fused while high spatial frequency parts are rivalrous; how sparse blue cones can generate vivid blue surface percepts; how 3-D neon color spreading, visual phantoms, and tissue contrast percepts are generated; how conjunctions of color-and-depth may rapidly pop-out during visual search. These explanations arise derived from an ecological analysis of how monocularly viewed parts of an image inherit the appropriate depth from contiguous binocularly viewed parts, as during DaVinci stereopsis. The model predicts the functional role and ordering of multiple interactions within and between the two parvocellular processing streams that join LGN to prestriate area V4. Interactions from cells representing larger scales and disparities to cells representing smaller scales and disparities are of particular importance.

Cortical Dynamics of 3-D Vision and Figure-Ground Pop-Out

Air Force Office of Scientific Research (90-0175); Defense Advanced Research Projects Agency (90-0083); Office of Naval Research (N00014-91-J-4100)