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Probabilistic Appearance Based Navigation

Explore the use of probabilistic appearance-based navigation methods with different probabilities, priors, and word distribution approximations. Learn about thin junction trees for modeling and testing purposes.

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Probabilistic Appearance Based Navigation

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  1. Probabilistic Appearance Based Navigation

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

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

  4. Prior

  5. ?

  6. 0.85 0.1 0.04 0.01

  7. 0.85 0.1 0.04 0.01

  8. Approximating the Word Distribution

  9. Thin Junction Trees • 1968 – Chow and LiuApproximating discrete probability distributions with dependence trees • 2002 – Bach and JordanThin junction trees

  10. Training the Model

  11. Test Set

  12. Video

  13. Questions?

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