  We derive novel conditions that guarantee convergence of the Sum-Product
algorithm (also known as Loopy Belief Propagation or simply Belief Propagation)
to a unique fixed point, irrespective of the initial messages. The
computational complexity of the conditions is polynomial in the number of
variables. In contrast with previously existing conditions, our results are
directly applicable to arbitrary factor graphs (with discrete variables) and
are shown to be valid also in the case of factors containing zeros, under some
additional conditions. We compare our bounds with existing ones, numerically
and, if possible, analytically. For binary variables with pairwise
interactions, we derive sufficient conditions that take into account local
evidence (i.e., single variable factors) and the type of pair interactions
(attractive or repulsive). It is shown empirically that this bound outperforms
existing bounds.
