Critically, these contrasting visual perspectives serve distinct roles in perception and action. While egocentric frames of reference are body-centered (i.e., self-to-object spatial relations) and guide action (e.g., reaching, grasping) in near space, allocentric representations code the spatial relations among objects (i.e., object-to-object spatial relations) and impact action planning at a distance (Kosslyn, 1994 and Milner and Goodale, 1995).