  We present a framework that allows an observer to determine occluded portions
of a structure by finding the maximum-likelihood estimate of those occluded
portions consistent with visible image evidence and a consistency model. Doing
this requires determining which portions of the structure are occluded in the
first place. Since each process relies on the other, we determine a solution to
both problems in tandem. We extend our framework to determine confidence of
one's assessment of which portions of an observed structure are occluded, and
the estimate of that occluded structure, by determining the sensitivity of
one's assessment to potential new observations. We further extend our framework
to determine a robotic action whose execution would allow a new observation
that would maximally increase one's confidence.
