Tamir Hazan Amnon Shashua Convergent Message-Passing Algorithms for Inference over General Graphs with Convex Free Energies. 264-273 2008 UAI http://uai2008.cs.helsinki.fi/UAI_camera_ready/hazan.pdf conf/uai/2008 db/conf/uai/uai2008.html#HazanS08