Perceptual Inference Network (PIN): Specification 
Boyer - 22 
Associative Memory 
Module 
Figure 1: Block diagram of a composite node 
• Message Passing: Each composite node is made up of a com 
putational Bayesian node and a locational compatibility block. 
Probability messages that are sent to the nodes are tagged with 
spatial information. The rest of the message passing remains the 
same as that of Bayesian networks.