Impossible Objects: A Special Type of Visual Illusion. Penrose, L. S. & Penrose, R. 49(1):31–33.
Impossible Objects: A Special Type of Visual Illusion [link]Paper  doi  abstract   bibtex   
[Excerpt] Two-dimensional drawings can be made to convey the impression of three-dimensional objects. In certain circumstances this fact can be used to induce contradictory perceptual interpretations. Numerous ideas in this field have been exploited by Escher (1954). The present note deals with one special type of figure. Each individual part is acceptable as a representation of an object normally situated in three-dimensional space; and yet, owing to false connexions of the parts. acceptance of the whole figure on this basis leads to the illusory effect of an impossible structure. An elementary example is shown in Fig. 1. Here is a perspective drawing, each part of which is accepted as representing a three-dimensional rectangular structure. The lines in the drawing are, however, connected in such a manner as to to produce an impossibility. As the eye pursues the braes of the figure, sudden changes in the interpretation of distance of the object from the observer are necessary. A more complicated structure, not drawn in perspective, is shown in Fig. 2. As this object is examined by following ins surfaces, reappraisal has to be made very frequently. Another way of presenting the same type of illusion it to express the impossibility in terms of well a phenomenon as a continually descending or ascending path. The flight of steps drawn in Fig. 3 is an example of this. Each part of the structure is acceptable as representing a flight of steps but the connexions are such that the picture, as a whole, is inconsistent; the steps continually descend in a clockwise direction. [...]
@article{penroseImpossibleObjectsSpecial1958,
  title = {Impossible Objects: A Special Type of Visual Illusion},
  author = {Penrose, Lionel Sharples and Penrose, Roger},
  date = {1958-02-01},
  journaltitle = {British Journal of Psychology},
  volume = {49},
  pages = {31--33},
  issn = {2044-8295},
  doi = {10.1111/j.2044-8295.1958.tb00634.x},
  url = {https://doi.org/10.1111/j.2044-8295.1958.tb00634.x},
  urldate = {2019-04-07},
  abstract = {[Excerpt] Two-dimensional drawings can be made to convey the impression of three-dimensional objects. In certain circumstances this fact can be used to induce contradictory perceptual interpretations. Numerous ideas in this field have been exploited by Escher (1954). The present note deals with one special type of figure. Each individual part is acceptable as a representation of an object normally situated in three-dimensional space; and yet, owing to false connexions of the parts. acceptance of the whole figure on this basis leads to the illusory effect of an impossible structure. An elementary example is shown in Fig. 1. Here is a perspective drawing, each part of which is accepted as representing a three-dimensional rectangular structure. The lines in the drawing are, however, connected in such a manner as to to produce an impossibility. As the eye pursues the braes of the figure, sudden changes in the interpretation of distance of the object from the observer are necessary. A more complicated structure, not drawn in perspective, is shown in Fig. 2. As this object is examined by following ins surfaces, reappraisal has to be made very frequently. Another way of presenting the same type of illusion it to express the impossibility in terms of well a phenomenon as a continually descending or ascending path. The flight of steps drawn in Fig. 3 is an example of this. Each part of the structure is acceptable as representing a flight of steps but the connexions are such that the picture, as a whole, is inconsistent; the steps continually descend in a clockwise direction. [...]},
  keywords = {~INRMM-MiD:z-74QHDM3R,cognitive-bias,mathematical-reasoning,perception,spatial-pattern},
  langid = {english},
  number = {1}
}

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