Recent findings of vestibular responses in visual cortex -the dorsal medial superior temporal area (MSTd) -suggest that vestibular signals might contribute to cortical processes mediating selfmotion perception. We tested this hypothesis in monkeys trained to perform a fine heading discrimination task based solely on inertial motion cues. Neuronal sensitivity was typically lower than psychophysical sensitivity, and only the most sensitive neurons rivaled behavioral performance. MSTd responses were significantly correlated with perceptual decisions, with correlations being strongest for the most sensitive neurons. These results support a functional link between MSTd and heading perception based on inertial motion cues. These cues are mainly of vestibular origin, since labyrinthectomy produced dramatic elevation of psychophysical thresholds and abolished MSTd responses. This study provides the first evidence that links single-unit activity to spatial perception mediated by vestibular signals, and suggests that the role of MSTd in self-motion perception extends beyond optic flow processing. The vestibular apparatus provides sensory information about the angular velocity (semicircular canals) and linear acceleration (otolith organs) of the head 1, 2 . Lesion studies demonstrate that vestibular signals play critical roles in several reflexive processes, including compensatory eye movements (vestibulo-ocular reflex, VOR) 3, 4 , maintenance of balance, and control of posture 5 . The neural circuits that mediate these automatic processes-especially the VORhave been explored extensively 6, 7 .The vestibular system should also contribute to processes that are under cognitive control, such as perception of spatial orientation and self-motion 8-10 . To investigate this, we trained rhesus monkeys to report their perceived direction of heading (leftward vs. rightward relative to straight ahead) based solely on inertial motion cues. We show that trained animals discriminate differences in heading as small as 1-2° (comparable to human performance 11 ), and that damage to the vestibular labyrinth dramatically impairs performance. This establishes the heading discrimination task as a sensitive probe of vestibular function relevant to self-motion perception.Where in the brain can one find neurons that mediate heading perception based on inertial motion cues? Unlike in other sensory systems, relatively little is known about the cortical processing of vestibular signals. Whereas neural activity has been linked to perception in other