@misc{W2137585588,
  author = {Ba‐Ngu Vo and Wing‐Kin Ma},
  title = {The Gaussian Mixture Probability Hypothesis Density Filter},
  year = {2006},
  howpublished = {IEEE Transactions on Signal Processing},
  doi = {https://doi.org/10.1109/tsp.2006.881190}
}