State Estimation for Robotics_2.1.2_Bayes' Rule and Inference
2017-01-12 16:08
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本系列文章由 youngpan1101 出品,转载请注明出处。
文章链接: http://blog.csdn.net/youngpan1101/article/details/54378949
作者:宋洋鹏(youngpan1101)
邮箱: yangpeng_song@163.com
【《State Estimation for Robotics》英文版链接】【黄山老师的讲解视频】
将 x 和 y 的联合概率密度分解为:
p(x,y)=p(x|y)p(y)=p(y|x)p(x)(2.1.2-1)
式中,p(x|y) —— 给定 y 下 x 的条件概率密度函数;
p(x) —— x 的边缘概率密度函数;
p(y) —— y 的边缘概率密度函数;
注意: 若 x 和 y 相互独立(statistically independent),p(x,y)=p(x)p(y) 。
贝叶斯公式:
p(x|y)=p(x,y)p(y)=p(y|x)p(x)p(y)=p(y|x)p(x)p(y)⋅1=p(y|x)p(x)p(y)∫p(x|y)dx=p(y|x)p(x)∫p(x|y)p(y)dx=p(y|x)p(x)∫p(x,y)dx=p(y|x)p(x)∫p(y|x)p(x)dx(2.1.2-2)
式中,p(x|y) —— 后验密度(posterior density)
p(y|x) —— sensor model
p(x) —— 先验密度(prior density)
p(y) —— 证据因子(evidence)
文章链接: http://blog.csdn.net/youngpan1101/article/details/54378949
作者:宋洋鹏(youngpan1101)
邮箱: yangpeng_song@163.com
贝叶斯公式推导过程
【《State Estimation for Robotics》英文版链接】【黄山老师的讲解视频】
将 x 和 y 的联合概率密度分解为:
p(x,y)=p(x|y)p(y)=p(y|x)p(x)(2.1.2-1)
式中,p(x|y) —— 给定 y 下 x 的条件概率密度函数;
p(x) —— x 的边缘概率密度函数;
p(y) —— y 的边缘概率密度函数;
注意: 若 x 和 y 相互独立(statistically independent),p(x,y)=p(x)p(y) 。
贝叶斯公式:
p(x|y)=p(x,y)p(y)=p(y|x)p(x)p(y)=p(y|x)p(x)p(y)⋅1=p(y|x)p(x)p(y)∫p(x|y)dx=p(y|x)p(x)∫p(x|y)p(y)dx=p(y|x)p(x)∫p(x,y)dx=p(y|x)p(x)∫p(y|x)p(x)dx(2.1.2-2)
式中,p(x|y) —— 后验密度(posterior density)
p(y|x) —— sensor model
p(x) —— 先验密度(prior density)
p(y) —— 证据因子(evidence)
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