Let the events
be any partition of . The
probability of an event can be obtained through
marginalization as
|
(9.8) |
One of the most useful applications of marginalization is in the
denominator of Bayes' rule. A substitution of (9.8)
into the denominator of (9.6) yields
|
(9.9) |
This form is sometimes easier to work with because appears to
be eliminated.
Steven M LaValle
2020-08-14