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. 2017 Aug 18;7:8722. doi: 10.1038/s41598-017-06519-y

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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A toy model illustrating the filtering task for perception. (a) Cartoon of a frog tracking a fly, relying on its visual (v _t) and auditory (a _t) channels. (b) Nonlinearities in the generative function g(x) of the two sensory channels. Vision is modeled as a linear mapping, while audition is modeled as a sigmoid function. (c) A sample trajectory of the fly according to Eq. (15). Note that the nonlinearity in the drift gives rise to a bimodal stationary distribution p(x _t).