• caption of fig 3.1: "hand side of(3.2)" => "hand side of (3.2)" (add a space)

Page 151

• the second equation is missing the equation number. Also, sigma^2 doesn't appear in this equation, but appears in Fig 3.5, which is a bit confusing.

Page 152

• last equation is missing the equation number.

Page 154

• Fig 3.8: the words "object", "position" and "orientation" are missing some letters (not sure if our printer is at fault)

Page 156

• ",for i=2,..." => ", for i=2,..." (insert a space after the comma)

Page 158

• "such a probabilistic" => "such as probabilistic"

Page 168

• "greater than than the prior" => "greater than the prior"

Page 173

• Fig 3.27 caption: "blanked" => "blanket"

Page 177

• "the marginals only involves" => "the marginals only involve"

Page 179

• "a potential functions is" => "a potential function is"

Page 180

• "may be updates" => "may be updated"
• "max-product algorithm": in section 3.4, we only hear of sum-product, and max-sum.
• bottom: "simple example in Figure 3.32" => "simple example in Figure 3.32 (a)"

Page 181

• top: "Figure 3.32" => "Figure 3.32 (b)"

Page 183

• "exists an directed" => "exists a directed" or "exists an undirected"
• "This set is is distinct" => "This set is distinct"
• Fig 3.34 caption: "together the set" => "together with the set"
• "four variables show" => "four variables shown"

Page 183 & Page 184

• Fig 3.35 and Fig 3.36: the variables' names do not match the names in the text.

Page 184

• first line of 3.4: "problem if inference" => "problem of inference"

Page 185

• "is set of numbers" => "is a set of numbers"

Page 186

• Eq 3.42: not sure the last three dots (in both lines) should be there

Page 187

• last line: "procedure separately for each" => "procedure for each"

Page 188

• first line: "O(N^2M^2)" I think should be "O(N^2K^2)"
• "to propagate a messages" => "to propagate a message"
• "need be evaluated" => "needs to be evaluated"

Page 190

• second line: "is expressed" => "to be expressed"
• middle: "variables nodes" => "variable nodes"

Page 192

• caption of Fig 3.42: "A factor different graph" => "A different factor graph"

Page 193

• "for particular variable" => "for a particular variable"

Page 196

• "we see that that a messages" sounds English incorrect.

Page 200

• Fig 3.51: It would be nice to add "f_a", "f_b" and "f_c" near the black squares.