tech-things and data-things. Machine Learning, Autonomous Driving, Probability Theory http://www.mariolueder.com/ Data Association with Misdetection and Clutter - This presents a data association algorithm I call MASDA (Max-Sum Algorithm Data Association) which relies on message passing in a factor graph. I derived the formula presented here using the very same approach as in the paper: Givoni, Inmar & Frey, Brendan. (2009). A Binary Variable Model for Affinity Propagation.... Wed, 26 Nov 2025 11:50:00 -0500 http://www.mariolueder.com/2025-11-26-Faster-Data-Association-with-Max-Sum-Loopy-Belief-Propagation-MASDA/ http://www.mariolueder.com/2025-11-26-Faster-Data-Association-with-Max-Sum-Loopy-Belief-Propagation-MASDA/ Algorithm and Python implementation - Gaussian Belief Propagation is a variant of Belief Propagation and used for inference on graphical models if the underlying distribution is described as a Gaussian. This article describes the implementation of the inference of a piecewiese separated Line using Gaussian Loopy Belief Propagation. The example is taken from A visual... Mon, 21 Aug 2023 06:00:00 -0400 http://www.mariolueder.com/2023-08-21-Line-Fitting-using-Gaussian-Loopy-Belief-Propagation/ http://www.mariolueder.com/2023-08-21-Line-Fitting-using-Gaussian-Loopy-Belief-Propagation/ Practical Example - I want to continue my previous post with a (useful) example to get more a feel how to use Loopy Belief Propagation in practice. The aim is to remove noise from an image - which is only a toy example. Please see the References. I have taken the ideas from... Fri, 23 Sep 2022 18:00:00 -0400 http://www.mariolueder.com/2022-09-23-Noise-Reduction-Loopy-Belief-Propagation/ http://www.mariolueder.com/2022-09-23-Noise-Reduction-Loopy-Belief-Propagation/ Theory with Python implementation - This is about how to implement Loopy Belief Propagation in Python and to understand the calculations in detail. The most parts were done by Jessical Stringham in her Notebook here. I adapted it only a little to experiment with loopy belief propagation and added examples to show how the products... Sat, 17 Sep 2022 05:02:00 -0400 http://www.mariolueder.com/2022-09-17-Loopy-Belief-Propagation/ http://www.mariolueder.com/2022-09-17-Loopy-Belief-Propagation/ Introduction, Derivation and Code - This is an introduction on how to compute a driving path for an autonomous vehicle. In this article, I focus only the trajectory creation. Obstacle perception and avoidance shall be out of scope. The idea comes from paper  Werling, M., Ziegler, J., Kammel, S., & Thrun, S. Optimal Trajectory Generation... Sun, 13 Feb 2022 04:02:00 -0500 http://www.mariolueder.com/2022-02-13-PathPlanning/ http://www.mariolueder.com/2022-02-13-PathPlanning/