After working with these large SOMs (50×50 or 75×75) the grid and uniformity of the images appears perhaps too consistent. One idea to inject some variation is to have the camera motivation keep track of the difference between the histogram of the middle region of the current frame and the previous frame. The larger the difference the larger that memory unit could be represented. A longer term idea could be to do a histogram analysis to figure out clusters of similarity (similar u-matrix values). These U-Matrix values could be mapped to unit size.