Probabilistic Appearance Based Navigation

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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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0.85
0.1
0.04
0.01
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0.85
0.1
0.04
0.01
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Approximating the Word Distribution
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Thin Junction Trees

• 1968 Chow and Liu Approximating discrete
  probability distributions with dependence trees
• 2002 Bach and Jordan Thin 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?