Related papers: Sigma Point Belief Propagation
Bayesian inference offers a principled account of information processing in natural agents. However, it remains an open question how neural mechanisms perform their abstract operations. We investigate a hypothesis where a distributed form…
In second-order uncertain Bayesian networks, the conditional probabilities are only known within distributions, i.e., probabilities over probabilities. The delta-method has been applied to extend exact first-order inference methods to…
In this note we study an iterative belief propagation (IBP) algorithm and demonstrate it's ability to solve sparse combinatorial optimization problems. Similar to simulated annealing (SA), our IBP algorithm attempts to sample from the…
We consider inference (filtering) problems over probabilistic graphical models with aggregate data generated by a large population of individuals. We propose a new efficient belief propagation type algorithm over tree-structured graphs with…
It is known that fixed points of loopy belief propagation (BP) correspond to stationary points of the Bethe variational problem, where we minimize the Bethe free energy subject to normalization and marginalization constraints.…
We present a detailed study on application of factor graphs and the belief propagation (BP) algorithm to the power system state estimation (SE) problem. We start from the BP solution for the linear DC model, for which we provide a detailed…
In this paper, we investigate distributed inference schemes, over binary-valued Markov random fields, which are realized by the belief propagation (BP) algorithm. We first show that a decision variable obtained by the BP algorithm in a…
This paper considers inference over distributed linear Gaussian models using factor graphs and Gaussian belief propagation (BP). The distributed inference algorithm involves only local computation of the information matrix and of the mean…
The Survey Propagation (SP) algorithm for solving $k$-SAT problems has been shown recently as an instance of the Belief Propagation (BP) algorithm. In this paper, we show that for general constraint-satisfaction problems, SP may not be…
The framework of statistical inference has been successfully used to detect the meso-scale structures in complex networks, such as community structure, core-periphery (CP) structure. The main principle is that the stochastic block model…
We present a "pull" approach to approximate products of Gaussian mixtures within message updates for Nonparametric Belief Propagation (NBP) inference. Existing NBP methods often represent messages between continuous-valued latent variables…
Decentralized coordination for multi-robot systems involves planning in challenging, high-dimensional spaces. The planning problem is particularly challenging in the presence of obstacles and different sources of uncertainty such as…
A central obstacle in nonlinear Bayesian filtering is representing the belief distribution. Moment-based filters address this by propagating polynomial moments and reconstructing a density from them. Recent work completes the predict-update…
We investigate the application of the factor graph framework for blind joint channel estimation and symbol detection on time-variant linear inter-symbol interference channels. In particular, we consider the expectation maximization (EM)…
Gaussian Mixture Models (GMMs) commonly arise in communication systems, particularly in bilinear joint estimation and detection problems. Although the product of GMMs is still a GMM, as the number of factors increases, the number of…
Compressive sensing (CS) is an emerging field based on the revelation that a small collection of linear projections of a sparse signal contains enough information for stable, sub-Nyquist signal acquisition. When a statistical…
We address the problem of uncertainty propagation in the discrete Fourier transform by modeling the fast Fourier transform as a factor graph. Building on this representation, we propose an efficient framework for approximate Bayesian…
Belief propagation (BP) is an iterative method to perform approximate inference on arbitrary graphical models. Whether BP converges and if the solution is a unique fixed point depends on both the structure and the parametrization of the…
In this paper, we present a multipath-based simultaneous localization and mapping (SLAM) algorithm that continuously adapts mulitiple map feature (MF) models describing specularly reflected multipath components (MPCs) from flat surfaces and…
Message-passing algorithms based on the Belief Propagation (BP) equations constitute a well-known distributed computational scheme. It is exact on tree-like graphical models and has also proven to be effective in many problems defined on…