The image being discussed is on page 16 of the PDF (p. 310 by the document's page numbers).
EDIT: From my very quick, pre-coffee and woken-up-early-by-the-cats reading:
To everyone saying, "Well, if we choose a different set of assumptions it becomes possible." Yes. The discussion in the paper I link above goes into the assumptions used and rationale for why figures would be impossible in the context of his discussion. Basically, if you start with the image and treat it as an accurate (as accurate as it can be, a necessarily lossy process in most cases) 2d representation of a 3d object/scene, is there a valid 3d interpretation? In the case of the pyramid, with the assumption that it is an accurate drawing of a 3d pyramid, it's an impossible 3d pyramid. You'd have to add more information for it to become possible.