Bajcsy, RuzenaWong, K.Lee, S. W2023-05-222023-05-221988-11-012007-12-06https://repository.upenn.edu/handle/20.500.14332/7727This paper deals with Exploratory Procedures for Computer Vision. The assumptions are that we have a mobile camera system with controllable focus, close/open aperture, and ability of recording its position, orientation and movement. Furthermore we assume an unknown and unstructured environment. For our analysis we consider two types of illumination sources: the point source and the extended sky-like source. The exploratory procedures determine the illumination energy, in some cases the illumination orientation, the albedo and the differentiation between the true 3D scene and its picture. The key idea is the mobile active observer.GRASPReport