This code has been produced during while writing my Ph.D. (Dr.-Ing.) thesis at the institut of automatic control, RWTH Aachen University. If you find it helpful for your research please cite this:
T. Redick, „Bayesian inference for CAD-based pose estimation on depth images for robotic manipulation“, RWTH Aachen University, 2024. doi: 10.18154/RWTH-2024-04533.
Minimal implementation of a Bayesian Network which is a directed acyclic graph (DAG) where each variable conditionally depends on a set of parent variables (Wikpedia). Type stable and by unrolling recursions and sequentializing the DAG.