  Bayesian network models with latent variables are widely used in statistics
and machine learning. In this paper we provide a complete algebraic
characterization of Bayesian network models with latent variables when the
observed variables are discrete and no assumption is made about the state-space
of the latent variables. We show that it is algebraically equivalent to the
so-called nested Markov model, meaning that the two are the same up to
inequality constraints on the joint probabilities. In particular these two
models have the same dimension. The nested Markov model is therefore the best
possible description of the latent variable model that avoids consideration of
inequalities, which are extremely complicated in general. A consequence of this
is that the constraint finding algorithm of Tian and Pearl (UAI 2002,
pp519-527) is complete for finding equality constraints.
  Latent variable models suffer from difficulties of unidentifiable parameters
and non-regular asymptotics; in contrast the nested Markov model is fully
identifiable, represents a curved exponential family of known dimension, and
can easily be fitted using an explicit parameterization.
