依据这一模型，该方法使用贝叶斯理论和领域约束获得了区域和边界的最大后验概率估计。

The method is to derive the maximum a posteriori estimate of the regions and the boundaries by using Bayesian inference and neighborhood constraints based on Markov random fields(MRFs) models.

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依据这一模型，该方法使用贝叶斯理论和领域约束获得了区域和边界的量大后验概率估计。

The method is to derive the maximum a posteriori estimate of the regions and the boundaries by using Bayesian inference and neighborhood constraints based on Markov random fields (MRFs) models.

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文中侧重研究了两种以贝叶斯概率后验估计理论为基础的全局定位方法。

Two different global localization methods based on Bayesian estimation theory are mainly investigated in the paper.

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