A unified account of numerosity perception

People can identify the number of objects in sets of four or fewer items with near-perfect accuracy but exhibit linearly increasing error for larger sets. Some researchers have taken this discontinuity as evidence of two distinct representational systems. Here, we present a mathematical derivation showing that this behaviour is an optimal representation of cardinalities under a limited informational capacity, indicating that this behaviour can emerge from a single system. Our derivation predicts how the amount of information accessible to viewers should influence the perception of quantity for both large and small sets. In a series of four preregistered experiments (N = 100 each), we varied the amount of information accessible to participants in number estimation. We find tight alignment between the model and human performance for both small and large quantities, implicating efficient representation as the common origin behind key phenomena of human and animal numerical cognition.