@article{JMLR:v6:ihler05a,
  author  = {Alexander T. Ihler and John W. Fisher III and Alan S. Willsky},
  title   = {Loopy Belief Propagation: Convergence and Effects of Message Errors},
  journal = {Journal of Machine Learning Research},
  year    = {2005},
  volume  = {6},
  number  = {31},
  pages   = {905--936},
  url     = {http://jmlr.org/papers/v6/ihler05a.html}
}