Fig. 1.

A: computation of the location of an animal in an environment can be determined by obtaining a velocity signal based on the self-motion of the animal. Integration of velocity will provide an update of the current location (McNaughton et al. 2006). B: alternately, location can be determined by cortical computations based on the allocentric angle and distance to visual features (Raudies and Hasselmo 2015). C: the computation of location based on feature angle requires transformation from the coordinates of feature angle in egocentric coordinates to feature angle in allocentric coordinates based on the current head direction of the animal.