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2006
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 Transactions on Pattern Analysis and Machine Intelligence. 28(12):1960-1972.
2005
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.