FoA24

The probability of the entire sample space S is always:

• 0

• 1

• 0.5

• undefined

According to the axioms of probability, what is the probability of an impossible event?

• 0

• 1

• 0.5

• undefined

Which of these filters is a special case of the Bayes Filter for Gaussian distributions?

• Particle Filter

• Kalman Filter

• Alpha-Beta Filter

• Histogram Filter

What is the purpose of the normalization constant P(z_t) in Bayes' rule?

• To ensure the probabilities sum to 1

• To eliminate uncertainty

• To reduce noise

• To predict the future state

What does the Bayes Filter estimate?

• The exact position of a robot

• The most probable current state given the prior belief and current observations

• The future state of a system

• The variance of a signal

Which of the following is NOT a step in the Bayes Filter algorithm?

• Prediction

• Correction (Update)

• Resampling

• Initialization

The prediction step in the Bayes Filter involves:

• Incorporating the current observation

• Updating the belief using the system model and control input

• Computing the likelihood of the observation

• Normalizing the posterior distribution

In an HMM, what do the hidden states represent?

• The observed data
  

• The underlying process that is not directly observable

• Transition probabilities

• The emission probabilities

What assumption is central to an HMM?

• Each observation is independent of the others

• The current state only depends on the previous state

• The states are deterministic

• The observations are deterministic

In the Extended Kalman Filter, what technique is used to handle non-linear models?

• Particle sampling

• Linearization using the Jacobian

• Resampling

• Fourier analysis