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Damage to the primary visual cortex (V1) causes homonymous visual-field loss long considered intractable. Multiple studies now show that perceptual training can restore visual functions in chronic cortically-induced blindness (CB). A popular hypothesis is that training can harness residual visual functions by recruiting intact extrageniculostriate pathways. Training may also induce plastic changes within spared regions of the damaged V1. Here, we link changes in luminance detection sensitivity with retinotopic fMRI activity before and after visual discrimination training in eleven patients with chronic, stroke-induced CB. We show that spared V1 activity representing perimetrically-blind locations prior to training predicts the amount of training-induced recovery of luminance detection sensitivity. Additionally, training results in an enlargement of population receptive fields in perilesional V1, which increases blind-field coverage and may support further recovery with subsequent training. These findings uncover fundamental changes in perilesional V1 cortex underlying training-induced restoration of conscious luminance detection sensitivity in CB., In humans, stroke damage to V1 causes large visual field defects. Spared V1 activity prior to training predicts the amount of training-induced recovery in luminance detection sensitivity. Moreover, visual training changes population receptive field properties within residual V1 circuits.

To investigate whether visual experience with habitual blur alters the neural processing of suprathreshold contrast in emmetropic and highly aberrated eyes.A large stroke adaptive optics system was used to correct ocular aberrations. Contrast constancy was assessed psychophysically in emmetropic and keratoconic eyes using a contrast matching paradigm. Participants adjusted the contrasts of gratings at various spatial frequencies to match the contrast perception of a reference grating at 4 c/deg. Matching was done both with fully corrected and uncorrected ocular aberrations. Optical correction allowed keratoconus patients to perceive high spatial frequencies that they have not experienced for some time.Emmetropic observers exhibited contrast constancy both with their native aberrations and when their aberrations were corrected. Keratoconus patients exhibited contrast constancy with their uncorrected, native optics but they did not exhibit constancy during adaptive optics correction. Instead. they exhibited striking underconstancy: they required more contrast at high spatial frequencies than the contrast of the 4-c/deg stimulus to make them seem to have the same contrast.The presence of contrast constancy in emmetropes and keratoconus patients viewing with their native optics suggests that they have learned to amplify neural signals to offset the effects of habitual optical aberrations. The fact that underconstancy was observed in keratoconus patients when their optics were corrected suggests that they were unable to learn the appropriate neural amplification because they did not have experience with fine spatial detail. These results show that even adults can learn neural amplification to counteract the effects of their own optical aberrations.

The eye’s optics are a major determinant of visual perception. Elucidating how long-term exposure to optical defects affects visual processing is key to understanding the capacity for, and limits of, sensory plasticity. Here, we show evidence of functional reallocation of sensory processing resources following long-term exposure to poor optical quality. Using adaptive optics to bypass all optical defects, we assessed visual processing in neurotypically-developed adults with healthy eyes and with keratoconus – a corneal disease causing severe optical aberrations. Under fully-corrected optical conditions, keratoconus patients showed altered contrast sensitivity, with impaired sensitivity for fine spatial details and better-than-typical sensitivity for coarse spatial details. Both gains and losses in sensitivity were more pronounced in patients experiencing poorer optical quality in their daily life and mediated by changes in signal enhancement mechanisms. These findings show that adult neural processing adapts to better match the changes in sensory inputs caused by long-term exposure to altered optics.

Human vision is heterogeneous around the visual field. At a fixed eccentricity, performance is better along the horizontal than the vertical meridian, and along the lower than the upper vertical meridian. These asymmetric patterns, termed performance fields, have been found in numerous visual tasks, including those mediated by contrast sensitivity and spatial resolution. However, it is unknown whether spatial resolution asymmetries are confined to the cardinal meridians or whether, and how far, they extend into the upper and lower hemifields. Here, we measured visual acuity at isoeccentric peripheral locations (10 deg eccentricity), every 15º of polar angle. On each trial, observers judged the orientation (±45º) of one out of four equidistant, suprathreshold grating stimuli varying in spatial frequency (SF). On each block, we measured performance as a function of stimulus SF at 4 out of 24 isoeccentric locations. We estimated the 75%-correct SF threshold, SF cutoff point (i.e., chance-level) and slope of the psychometric function for each location. We found higher SF estimates –i.e., better acuity– for the horizontal than the vertical meridian, and for the lower than the upper vertical meridian. These asymmetries were most pronounced at the cardinal meridians and decreased gradually as the angular distance from the vertical meridian increased. This gradual change in acuity with polar angle reflected a shift of the psychometric function without changes in slope. The same pattern was found under binocular and monocular viewing conditions. These findings advance our understanding of visual processing around the visual field and help constrain models of visual perception.

Human vision has striking radial asymmetries, with performance on many tasks varying sharply with stimulus polar angle. Performance is generally better on the horizontal than vertical meridian, and on the lower than upper vertical meridian, and these asymmetries decrease gradually with deviation from the vertical meridian. Here we report cortical magnification at a fine angular resolution around the visual field. This precision enables comparisons between cortical magnification and behavior, between cortical magnification and retinal cell densities, and between cortical magnification in twin pairs. We show that cortical magnification in human primary visual cortex, measured in 163 subjects, varies substantially around the visual field, with a pattern similar to behavior. These radial asymmetries in cortex are larger than those found in the retina, and they are correlated between monozygotic twin pairs. These findings indicate a tight link between cortical topography and behavior, and suggest that visual field asymmetries are partly heritable.

Optical tweezers (OT) represent a versatile tool for micro‐manipulation. To avoid damages to living cells caused by illuminating laser directly on them, microrobots controlled by OT can be used for manipulation of cells or living organisms in microscopic scale. Translation and planar rotation motion of microrobots can be realized by using a multi‐spot planar OT. However, out‐of‐plane manipulation of microrobots is difficult to achieve with a planar OT. This paper presents a distributed manipulation scheme based on multiple laser spots, which can control the out‐of‐plane pose of a microrobot along multiple axes. Different microrobot designs have been investigated and fabricated for experimental validation. The main contributions of this paper include: i) development of a generic model for the structure design of microrobots which enables multi‐dimensional (6D) control via conventional multi‐spot OT; ii) introduction of the distributed force control for microrobot manipulation based on characteristic distance and power intensity distribution. Experiments are performed to demonstrate the effectiveness of the proposed method and its potential applications, which include indirect manipulation of micro‐objects.

Damage to the primary visual cortex (V1) causes profound, homonymous visual-field loss termed cortical blindness (CB). Though long considered intractable, multiple studies now show that perceptual training can recover visual functions in chronic CB. A popular hypothesis is that training recruits intact extrageniculostriate pathways. Alternatively, training may induce plastic changes within spared regions of the damaged V1. Here, we linked changes in luminance detection sensitivity with retinotopic fMRI activity in eleven chronic CB patients, before and after extensive visual discrimination training. Our results show that the strength of spared V1 activity representing perimetrically blind-field locations before training predicts the amount of training-induced recovery of luminance detection sensitivity. Additionally, training caused an enlargement of population receptive fields in perilesional V1 cortex, which increased blind-field coverage. These findings uncover fundamental changes in perilesional V1 cortex underlying training-induced restoration of conscious luminance detection sensitivity in cortically-blind patients.

This paper focuses on the control of rotating helical microrobots inside microchannels. We first use a 50 μm long and 5 μm in diameter helical robot to prove that the proximity of the channel walls create a perpendicular force on the robot. This force makes the robot orbit around the channel center line. We also demonstrate experimentally that this phenomenon simplifies the robot control by guiding it on a channel even if the robot propulsion is not perfectly aligned with the channel direction. We then use numerical simulations, validated by real experimental cases, to show different implications on the microrobot control of this orbiting phenomenon. First, the robot can be centered in 3D inside an in-plane microchannel only by controlling its horizontal direction (yaw angle). This means that a rotating microrobot can be precisely controlled along the center of a microfluidic channel only by using a standard 2D microscopy technology. Second, the robot horizontal (yaw) and vertical (pitch) directions can be controlled to follow a 3D evolving channel only with a 2D feedback. We believe this could lead to simplify imaging systems for the potential in vivo integration of such microrobots.

Microfluidic platforms used for biology studies are in need of embedded mobile sensing tools. However, tethered actuators and sensors are almost impossible to use in closed microscopic environments. In this paper we propose a microfluidic platform combined with a helical microrobot control setup to perform such tasks. The microrobot used in this paper is 50 μm long and 5 μm in diameter. It is designed with a helical tail that propels it through rotation. This rotation is induced by a homogeneous magnetic field, which is provided by a setup compatible with microscopy techniques. We first propose to use this robot as a force sensor. For this we report a characterization protocol inside the microfluidic chip to link in an open-loop way the robot rotation to the applied force on an object. This approach provided accurate force sensing in the range of 10–40 pN, with measurement error of 12%. Secondly, we demonstrate how this helical microrobot can be used to selectively isolate a particle from a solution and how we can investigate the impact of the particle on the robot propulsion force. Finally, we show that this robot can be stored, ready to use, on a dried microfluidic chip, thus allowing long-term storage and simple transport. This platform opens up the opportunity to develop helical microrobots on various scale that can as untethered sensors and actuators inside microfluidic environment.

In the presence of optical blur at the fovea, blur adaptation can improve visual acuity (VA) and perceived image quality over time. However, little is known regarding blur adaptation in the peripheral retina. Here, we examined neural adaptation to myopic defocus at the fovea and parafovea (10° temporal retina) in both emmetropes and myopes. During a 60-min adaptation period, subjects (3 emmetropes and 3 myopes) watched movies with +2 diopters of defocus blur through a 6-mm artificial pupil in two separate, counter-balanced sessions for each retinal location. VA was measured at 10-min intervals under full aberration-corrected viewing using an adaptive optics (AO) vision simulator. By correcting subjects' native optical aberrations with AO, we bypassed the influence of the individual subjects' optical aberrations on visual performance. Overall, exhibited a small but significant improvement after the 60-min of adaptation at both the fovea (mean±SE VA improvement: -0.06±0.04 logMAR) and parafovea (mean±SE VA improvement: -0.07±0.04 logMAR). Myopic subjects exhibited significantly greater improvement in parafoveal VA (mean±SE VA improvement: 0.10±0.02 logMAR), than that of emmetropic subjects (mean±SE VA improvement: 0.04±0.03 logMAR). In contrast, there was no significant difference in foveal VA between the two refractive-error groups. In conclusion, our results reveal differences in peripheral blur adaptation between refractive-error groups, with myopes displaying a greater degree of adaptation.

How does visual attention affect spatial resolution? In texture-segmentation tasks, exogenous (involuntary) attention automatically increases resolution at the attended location, which improves performance where resolution is too low (at the periphery) but impairs performance where resolution is already too high (at central locations). Conversely, endogenous (voluntary) attention improves performance at all eccentricities, which suggests a more flexible mechanism. Here, using selective adaptation to spatial frequency, we investigated the mechanism by which endogenous attention benefits performance in resolution tasks. Participants detected a texture target that could appear at several eccentricities. Adapting to high or low spatial frequencies selectively affected performance in a manner consistent with changes in resolution. Moreover, adapting to high, but not low, frequencies mitigated the attentional benefit at central locations where resolution was too high; this shows that attention can improve performance by decreasing resolution. Altogether, our results indicate that endogenous attention benefits performance by modulating the contribution of high-frequency information in order to flexibly adjust spatial resolution according to task demands.

Human observers make large rapid eye movements-saccades-to bring behaviorally relevant information into the fovea, where spatial resolution is high. In some visual tasks [1-4], performance at the location of a saccade target improves before the eyes move. Although these findings provide evidence that extra-retinal signals evoked by saccades can enhance visual perception, it remains unknown whether and how presaccadic modulations change the processing of feature information and thus modulate visual representations. To answer this question, one must go beyond the use of methods that only probe performance accuracy (d') in different tasks. Here, using a psychophysical reverse correlation approach [5-8], we investigated how saccade preparation influences the processing of orientation and spatial frequency-two building blocks of early vision. We found that saccade preparation selectively enhanced the gain of high spatial frequency information and narrowed orientation tuning at the upcoming saccade landing position. These modulations were time locked to saccade onset, peaking right before the eyes moved (-50-0 ms). Moreover, merely deploying covert attention within the same temporal interval without preparing a saccade did not alter performance. The observed presaccadic tuning changes may correspond to the presaccadic enhancement [9-11] and receptive field shifts reported in neurophysiological studies [12-14]. Saccade preparation may support transaccadic integration by reshaping the representation of the saccade target to be more fovea-like just before the eyes move. The presaccadic modulations on spatial frequency and orientation processing illustrate a strong perception-action coupling by revealing that the visual system dynamically reshapes feature selectivity contingent upon eye movements.

Visual perceptual learning (VPL) refers to the improvement in performance on a visual task due to practice. A hallmark of VPL is specificity, as improvements are often confined to the trained retinal locations or stimulus features. We have previously found that exogenous (involuntary, stimulus-driven) and endogenous (voluntary, goal-driven) spatial attention can facilitate the transfer of VPL across locations in orientation discrimination tasks mediated by contrast sensitivity. Here, we investigated whether exogenous spatial attention can facilitate such transfer in acuity tasks that have been associated with higher specificity. We trained observers for 3 days (days 2–4) in a Landolt acuity task (Experiment 1) or a Vernier hyperacuity task (Experiment 2), with either exogenous precues (attention group) or neutral precues (neutral group). Importantly, during pre-tests (day 1) and post-tests (day 5), all observers were tested with neutral precues; thus, groups differed only in their attentional allocation during training. For the Landolt acuity task, we found evidence of location transfer in both the neutral and attention groups, suggesting weak location specificity of VPL. For the Vernier hyperacuity task, we found evidence of location and feature specificity in the neutral group, and learning transfer in the attention group—similar improvement at trained and untrained locations and features. Our results reveal that, when there is specificity in a perceptual acuity task, exogenous spatial attention can overcome that specificity and facilitate learning transfer to both untrained locations and features simultaneously with the same training. Thus, in addition to improving performance, exogenous attention generalizes perceptual learning across locations and features.

It is well established that attention improves performance on many visual tasks. However, for more than 100 years, psychologists, philosophers, and neurophysiologists have debated its phenomenology-whether attention actually changes one's subjective experience. Here, we show that it is possible to objectively and quantitatively investigate the effects of attention on subjective experience. First, we review evidence showing that attention alters the appearance of many static and dynamic basic visual dimensions, which mediate changes in appearance of higher-level perceptual aspects. Then, we summarize current views on how attention alters appearance. These findings have implications for our understanding of perception and attention, illustrating that attention affects not only how we perform in visual tasks, but actually alters our experience of the visual world.

The ability to swiftly detect and prioritize the processing of relevant information around us is critical for the way we interact with our environment. Selective attention is a key mechanism that serves this purpose, improving performance in numerous visual tasks. Reflexively attending to sudden information helps detect impeding threat or danger, a possible reason why emotion modulates the way selective attention affects perception. For instance, the sudden appearance of a fearful face potentiates the effects of exogenous (involuntary, stimulus-driven) attention on performance. Internal states such as trait anxiety can also modulate the impact of attention on early visual processing. However, attention does not only improve performance; it also alters the way visual information appears to us, e.g. by enhancing perceived contrast. Here we show that emotion potentiates the effects of exogenous attention on both performance and perceived contrast. Moreover, we found that trait anxiety mediates these effects, with stronger influences of attention and emotion in anxious observers. Finally, changes in performance and appearance correlated with each other, likely reflecting common attentional modulations. Altogether, our findings show that emotion and anxiety interact with selective attention to truly alter how we see.

Perceptual organization and selective attention are two crucial processes that influence how we perceive visual information. The former structures complex visual inputs into coherent units, whereas the later selects relevant information. Attention and perceptual organization can modulate each other, affecting visual processing and performance in various tasks and conditions. Here, we tested whether attention can alter the way multiple elements appear to be perceptually organized. We manipulated covert spatial attention using a rapid serial visual presentation task, and measured perceptual organization of two multielements arrays organized by luminance similarity as rows or columns, at both the attended and unattended locations. We found that the apparent perceptual organization of the multielement arrays is intensified when attended and attenuated when unattended. We ruled out response bias as an alternative explanation. These findings reveal that attention enhances the appearance of perceptual organization, a midlevel vision process, altering the way we perceive our visual environment.

Training chronic, cortically-blind (CB) patients on a coarse [left-right] direction discrimination and integration (CDDI) task recovers performance on this task at trained, blind field locations. However, fine direction difference (FDD) thresholds remain elevated at these locations, limiting the usefulness of recovered vision in daily life. Here, we asked if this FDD impairment can be overcome by training CB subjects with endogenous, feature-based attention (FBA) cues. Ten CB subjects were recruited and trained on CDDI and FDD with an FBA cue or FDD with a neutral cue. After completion of each training protocol, FDD thresholds were re-measured with both neutral and FBA cues at trained, blind-field locations and at corresponding, intact-field locations. In intact portions of the visual field, FDD thresholds were lower when tested with FBA than neutral cues. Training subjects in the blind field on the CDDI task improved FDD performance to the point that a threshold could be measured, but these locations remained impaired relative to the intact field. FDD training with neutral cues resulted in better blind field FDD thresholds than CDDI training, but thresholds remained impaired relative to intact field levels, regardless of testing cue condition. Importantly, training FDD in the blind field with FBA lowered FDD thresholds relative to CDDI training, and allowed the blind field to reach thresholds similar to the intact field, even when FBA trained subjects were tested with a neutral rather than FBA cue. Finally, FDD training appeared to also recover normal integration thresholds at trained, blind-field locations, providing an interesting double dissociation with respect to CDDI training. In summary, mechanisms governing FBA appear to function normally in both intact and impaired regions of the visual field following V1 damage. Our results mark the first time that FDD thresholds in CB fields have been seen to reach intact field levels of performance. Moreover, FBA can be leveraged during visual training to recover normal, fine direction discrimination and integration performance at trained, blind-field locations, potentiating visual recovery of more complex and precise aspects of motion perception in cortically-blinded fields.

We summarize and discuss a series of psychophysical studies on the effects of spatial covert attention on spatial resolution, our ability to discriminate fine patterns. Heightened resolution is beneficial in most, but not all, visual tasks. We show how endogenous attention (voluntary, goal driven) and exogenous attention (involuntary, stimulus driven) affect performance on a variety of tasks mediated by spatial resolution, such as visual search, crowding, acuity, and texture segmentation. Exogenous attention is an automatic mechanism that increases resolution regardless of whether it helps or hinders performance. In contrast, endogenous attention flexibly adjusts resolution to optimize performance according to task demands. We illustrate how psychophysical studies can reveal the underlying mechanisms of these effects and allow us to draw linking hypotheses with known neurophysiological effects of attention.

We do not fully understand how behavioral state modulates the processing and transmission of sensory signals. Here, we studied the cortical representation of the retinal image in mice that spontaneously switched between a state of rest and a constricted pupil, and one of active locomotion and a dilated pupil, indicative of heightened attention. We measured the selectivity of neurons in primary visual cortex for orientation and spatial frequency, as well as their response gain, in these two behavioral states. Consistent with prior studies, we found that preferred orientation and spatial frequency remained invariant across states, whereas response gain increased during locomotion relative to rest. Surprisingly, relative gain, defined as the ratio between the gain during locomotion and the gain during rest, was not uniform across the population. Cells tuned to high spatial frequencies showed larger relative gain compared with those tuned to lower spatial frequencies. The preferential enhancement of high-spatial-frequency information was also reflected in our ability to decode the stimulus from population activity. Finally, we show that changes in gain originate from shifts in the operating point of neurons along a spiking nonlinearity as a function of behavioral state. Differences in the relative gain experienced by neurons with high and low spatial frequencies are due to corresponding differences in how these cells shift their operating points between behavioral states.How behavioral state modulates the processing and transmission of sensory signals remains poorly understood. Here, we show that the mean firing rate and neuronal gain increase during locomotion as a result in a shift of the operating point of neurons. We define relative gain as the ratio between the gain of neurons during locomotion and rest. Interestingly, relative gain is higher in cells with preferences for higher spatial frequencies than those with low-spatial-frequency selectivity. This means that, during a state of locomotion and heightened attention, the population activity in primary visual cortex can support better spatial acuity, a phenomenon that parallels the improved spatial resolution observed in human subjects during the allocation of spatial attention.

Highly aberrated keratoconic (KC) eyes do not elicit the expected visual advantage from customized optical corrections. This is attributed to the neural insensitivity arising from chronic visual experience with poor retinal image quality, dominated by low spatial frequencies. The goal of this study was to investigate if targeted perceptual learning with adaptive optics (AO) can stimulate neural plasticity in these highly aberrated eyes. The worse eye of 2 KC subjects was trained in a contrast threshold test under AO correction. Prior to training, tumbling 'E' visual acuity and contrast sensitivity at 4, 8, 12, 16, 20, 24 and 28 c/deg were measured in both the trained and untrained eyes of each subject with their routine prescription and with AO correction for a 6mm pupil. The high spatial frequency requiring 50% contrast for detection with AO correction was picked as the training frequency. Subjects were required to train on a contrast detection test with AO correction for 1h for 5 consecutive days. During each training session, threshold contrast measurement at the training frequency with AO was conducted. Pre-training measures were repeated after the 5 training sessions in both eyes (i.e., post-training). After training, contrast sensitivity under AO correction improved on average across spatial frequency by a factor of 1.91 (range: 1.77-2.04) and 1.75 (1.22-2.34) for the two subjects. This improvement in contrast sensitivity transferred to visual acuity with the two subjects improving by 1.5 and 1.3 lines respectively with AO following training. One of the two subjects denoted an interocular transfer of training and an improvement in performance with their routine prescription post-training. This training-induced visual benefit demonstrates the potential of AO as a tool for neural rehabilitation in patients with abnormal corneas. Moreover, it reveals a sufficient degree of neural plasticity in normally developed adults who have a long history of abnormal visual experience due to optical imperfections.

Previous research has shown that stimuli rendered invisible through masking can be sufficiently processed to induce nonconscious influences and facilitate subsequent recognition. However, masking paradigms are methodologically restricted such that stimuli cannot be presented for longer than a few tens of milliseconds, potentially restricting the strength of nonconscious influences. By adapting a masked face repetition priming paradigm to a recent interocular suppression method, we investigated whether longer periods of invisible prime stimulation lead to larger nonconscious influences on subsequent recognition. Surprisingly, we found that while brief periods of invisible prime stimulation result in classical facilitation priming, long periods of invisible stimulation lead to negative priming influences, reflecting impairment of subsequent recognition. In contrast, when the prime was visible, longer exposure resulted in classical facilitation effects, revealing qualitative differences between conscious and nonconscious processes. Altogether, the present findings reveal the existence of a nonconscious overstimulation cost, as well as an important dissociation between conscious and nonconscious processing.

Voluntary covert attention selects relevant sensory information for prioritized processing. The behavioral and neural consequences of such selection have been extensively documented, but its phenomenology has received little empirical investigation. Involuntary attention increases perceived spatial frequency (Gobell & Carrasco, 2005), but involuntary attention can differ from voluntary attention in its effects on performance in tasks mediated by spatial resolution (Yeshurun, Montagna, & Carrasco, 2008). Therefore, we ask whether voluntary attention affects the subjective appearance of spatial frequency—a fundamental dimension of visual perception underlying spatial resolution. We used a demanding rapid serial visual presentation task to direct voluntary attention and measured perceived spatial frequency at the attended and unattended locations. Attention increased the perceived spatial frequency of suprathreshold stimuli and also improved performance on a concurrent orientation discrimination task. In the control experiment, we ruled out response bias as an alternative account by using a lengthened interstimulus interval, which allows observers to disengage attention from the cued location. In contrast to the main experiment, the observers showed neither increased perceived spatial frequency nor improved orientation discrimination at the attended location. Thus, this study establishes that voluntary attention increases perceived spatial frequency. This phenomenological consequence links behavioral and neurophysiological studies on the effects of attention.

Mobile microrobots have a promising future in various applications. These include targeted drug delivery, local measurement, biopsy or microassembly. Studying mobile microrobots inside microfluidics is an essential step towards such applications. But in this environment that was not designed for the robot, integration process and propulsion robustness still pose technological challenges. In this paper, we present a helical microrobot with three different motions, designed to achieve these goals. These motions are rolling, spintop motion and swimming. Through these multiple motions, microrobots are able to selectively integrate a chip through a microfluidic channel. This enables them to perform propulsion characterizations, 3D (Three Dimensional) maneuverability, particle cargo transport manipulation and exit from the chip. The microrobot selective integration inside microfluidics could lead to various in-vitro biologic or in-vivo biomedical applications.

Magnetically actuated micro/nano robots are promising to various biological and medical applications in wet environments. In order to improve robots control, robustness and efficiency, real time 3D topographical surface analysis are essential especially for their navigation under such wet and confined environments. In this paper we propose a swimmer from the Roll-To-Swim (RTS) family capable of detecting and characterizing its surrounding topography thanks to 2D optical feedback. This RTS detects the presence of an obstacle (6.5µm height) by detecting perturbations in its horizontal rolling motion. Then we reconstruct a 2D probabilistic map of obstacles presence. To further characterize the surface topography, we developed the spintop motion where the RTS stands vertically while rotating. We provide a speed characterization of this new motion and demonstrate its maneuverability by integrating it in a closed-loop path following control. In this motion, RTS can be trapped by a targeted obstacle. The amount of power needed to escape is used to characterize the height of the obstacle from 2.5 to 6.5µm with a precision of 2µm. This wireless topographical detection by RTS can be a promising tool to choose an efficient pathway and an appropriate motion adapted to the surrounding environment as well as a surface topography analyzer.