# Visuospatial Working Memory for Autonomous UAVs: A Bio-Inspired Computational Model
## 4 Results  
This paper considers visuospatial ability as a person's capacity to identify visual and spatial relationships among objects. Therefore, the visuospatial ability of the bio-inspired VSWM computational model was measured in terms of the ability to classify and locate objects in the environment. Images and videos were recorded in each test case to analyze offline the bio-inspired VSWM computational model's visuospatial ability. (Supplementary Materials are available at CogniDron/VSWM/videos) In order to estimate the bio-inspired computational model's accuracy for generating spatial relationships among relevant stimuli in the environment, 100 frame samples were taken from the video of each test case. We observed that spatial relationships among relevant stimuli present in the environment were always right in the three test scenarios. Frames taken by the bio-inspired computational model were stored in order to compute the bio-inspired computational model's accuracy for classifying relevant visual stimuli (such as people and vehicles) present in the environment. Results of each test scenario are reported in Tables 5-7, respectively. \begin{table}
\begin{tabular}{c c} \hline \hline
**Test ID** & **Altitude** & **Description** \\ \hline
22 & 9.84 feet \\ \hline
23 & 13.12 feet \\ \hline
24 & 16.40 feet \\ \hline
25 & 9.84 feet \\ \hline
26 & 13.12 feet \\ \hline
27 & 16.40 feet \\ \hline
28 & 9.84 feet \\ \hline
29 & 13.12 feet \\ \hline
30 & 16.40 feet \\ \hline \hline \end{tabular}
\begin{tabular}{c c} \hline \hline
**Description** \\ \hline Visual stimuli involved in this test case were two persons and two parked vehicles in the environment. After the persons and vehicles were identified by the bio-inspired computational model, the persons walked aimlessly around the environment. Persons always avoided a partial or total occlusion between themselves and the vehicles. \\ \hline Visual stimuli involved in this test case were two persons and two parked vehicles in the environment. After the persons and vehicles were identified by the bio-inspired computational model, the persons walked aimlessly around the environment and then they generated a partial or total occlusion between themselves for a few seconds. \\ \hline Visual stimuli involved in this test case were two persons and two parked vehicles in the environment. After the persons and vehicles were identified by the bio-inspired computational model, the persons walked aimlessly around the environment and then they went outside of the drone’s field of view, but at different times. \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Test cases with people and vehicles. \begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline
**Test Id** & **Test Title** & **Feet** & **Parked** & **Vehicles in** & **Images** & **Total of** & **Detected** & **False** & **False** & **Visual** \\  & & & **Vehicles** & **Motion** & **Vehicles** & **Vehicles** & **Positive** & **Negative** & **Accuracy** \\ \hline
1 & & 9.84 & 2 & 0 & 135 & 270 & 270 & 0 & 0 & 100\% \\
2 & & 13.12 & 2 & 0 & 79 & 158 & 158 & 0 & 0 & 100\% \\
3 & Visuospatial & 16.4 & 2 & 0 & 101 & 202 & 202 & 0 & 0 & 100\% \\
4 & information & 9.84 & 1 & 1 & 113 & 226 & 224 & 0 & 2 & 99.12\% \\
5 & & 13.12 & 1 & 1 & 114 & 228 & 223 & 0 & 5 & 97.81\% \\
6 & & 16.4 & 1 & 1 & 87 & 174 & 166 & 0 & 8 & 95.40\% \\ \hline
7 & Retaining & 9.84 & 1 & 1 & 155 & 283 & 283 & 0 & 0 & 100\% \\  & visuospatial & & & & & & & & \\
8 & information for & 13.12 & 1 & 1 & 198 & 368 & 362 & 0 & 6 & 98.37\% \\  & a short period & & 16.4 & 1 & 1 & 118 & 222 & 214 & 0 & 8 & 96.40\% \\
9 & of time & & & & & & & & \\ \hline
10 & Selective & 9.84 & 1 & 1 & 123 & 176 & 176 & 0 & 0 & 100\% \\  & removal & & & & & & & & \\
11 & process for the & 13.12 & 1 & 1 & 113 & 191 & 189 & 0 & 2 & 98.95\% \\  & visuospatial & & & & & & & & \\
12 & working & 16.4 & 1 & 1 & 79 & 134 & 129 & 0 & 5 & 96.27\% \\  & memory buffer & & & & & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Results of the first test scenario.