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This Element reviews the current state of what is known about the visual and vestibular contributions to our perception of self-motion and orientation with an emphasis on the central role that gravity plays in these perceptions. The Element then reviews the effects of impoverished challenging environments that do not provide full information that would normally contribute to these perceptions (such as driving a car or piloting an aircraft) and inconsistent challenging environments where expected information is absent, such as the microgravity experienced on the International Space Station.