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Page 1: Probabilistic  Appearance Based  Navigation

Probabilistic Appearance Based

Navigation

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(a) p = 0.31 (b) p = 0.53 (c) p = 0.30

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(a) p = 0.999 (b) p = 0.999 (c) p = 0.999

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Prior

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?

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0.04

0.85

0.010.1

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0.04

0.85

0.010.1

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Approximating the Word Distribution

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Thin Junction Trees

• 1968 – Chow and LiuApproximating discrete probability distributions with dependence trees

• 2002 – Bach and JordanThin junction trees

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Training the Model

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Test Set

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Video

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Questions?