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Khan Z, Balch T, Dellaert F..  2005.  Multitarget tracking with split and merged measurements. IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2005. CVPR 2005. 1:605-610vol.1.
Egerstedt M., Balch T, Dellaert F., Delmotte F., Khan Z.  2005.  What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005. :4182-4187.
Khan Z, Balch T, Dellaert F..  2003.  Efficient particle filter-based tracking of multiple interacting targets using an MRF-based motion model. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 1:254-259vol.1.