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Khan Z, Balch T, Dellaert F. 2005. MCMC-based particle filtering for tracking a variable number of interacting targets.. IEEE Trans Pattern Anal Mach Intell. 27(11):1805-19.

Khan Z, Balch T, Dellaert F. 2006. MCMC data association and sparse factorization updating for real time multitarget tracking with merged and multiple measurements.. IEEE Trans Pattern Anal Mach Intell. 28(12):1960-72.