We have studied some of the design trade-offs governing visual represen- tations based on spatially invariant conjunctive feature detectors, with an emphasis on the susceptibility of such systems to false-positive recogni- tion errors-Malsburg's classical binding problem. We begin by deriving an analytical model that makes explicit how recognition performance is affected by the number of objects that must be distinguished. The number of features included in the representation, the complexity of individual objects, and the clutter load, that is, the amount of visual material in the field of view in which multiple objects must be simultaneously recog- nized, independent o pose, and without explicit segmentation.
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