“…Since Gibson’s seminal study, psychophysical, physiological and theoretical studies have demonstrated that the pattern of optic flow plays an important role in computing heading (see Andersen and Saidpour, 2002; Britten and Van Wezel, 2002; Britten, 2008; Crowell and Banks, 1993; Grigo and Lappe, 1999; Koenderink and van Doorn, 1987; Li et al, 2009; Longuet-Higgins and Prazdny, 1980; Royden, 1997; Royden et al, 2006; Vaina, 1998; Warren et al, 1988; Warren et al, 1991). Psychophysical studies and theoretical models have shown that heading perception is robust under various conditions, including retinal eccentricity (Crowell and Banks, 1993), eye movements with small rotation rates (Lappe et al, 1999; Royden et al, 1992; Royden et al, 1994; Warren et al, 1991) and high levels of noise (Royden, 1997; van den Berg, 1992; Warren et al, 1991).…”