# Spontaneous Spatial Cognition Emerges during Egocentric Video Viewing through Non-invasive BCI

arXiv: https://arxiv.org/abs/2507.12417 · HTML: https://mlsanity.com/paper/2507.12417/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 9 of its 66 references that are in the map.
- First posted on arXiv 16 Jul 2025.

## Builds on (most cited first, 9 of 9)

- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://mlsanity.com/paper/1606.05830/) (2016)
- [A Survey of Autonomous Driving: Common Practices and Emerging Technologies](https://mlsanity.com/paper/1906.05113/) (2019)
- [Geometry-Aware Learning of Maps for Camera Localization](https://mlsanity.com/paper/1712.03342/) (2017)
- [Modelling Uncertainty in Deep Learning for Camera Relocalization](https://mlsanity.com/paper/1509.05909/) (2015)
- [AtLoc: Attention Guided Camera Localization](https://mlsanity.com/paper/1909.03557/) (2019)
- [Where is your place, Visual Place Recognition?](https://mlsanity.com/paper/2103.06443/) (2021)

## Abstract (arXiv)

Humans possess a remarkable capacity for spatial cognition, allowing for self-localization even in novel or unfamiliar environments. While hippocampal neurons encoding position and orientation are well documented, the large-scale neural dynamics supporting spatial representation, particularly during naturalistic, passive experience, remain poorly understood. Here, we demonstrate for the first time that non-invasive brain-computer interfaces (BCIs) based on electroencephalography (EEG) can decode spontaneous, fine-grained egocentric 6D pose, comprising three-dimensional position and orientation, during passive viewing of egocentric video. Despite EEG's limited spatial resolution and high signal noise, we find that spatially coherent visual input (i.e., continuous and structured motion) reliably evokes decodable spatial representations, aligning with participants' subjective sense of spatial engagement. Decoding performance further improves when visual input is presented at a frame rate of 100 ms per image, suggesting alignment with intrinsic neural temporal dynamics. Using gradient-based backpropagation through a neural decoding model, we identify distinct EEG channels contributing to position -- and orientation specific -- components, revealing a distributed yet complementary neural encoding scheme. These findings indicate that the brain's spatial systems operate spontaneously and continuously, even under passive conditions, challenging traditional distinctions between active and passive spatial cognition. Our results offer a non-invasive window into the automatic construction of egocentric spatial maps and advance our understanding of how the human mind transforms everyday sensory experience into structured internal representations.