Clark, D.; Ba-Tuong Vo, ; Ba-Ngu Vo, ; Godsill, S.: 'Gaussian mixture implementations of probability hypothesis density filters for non-linear dynamical models', IET Conference Proceedings, 2008, p. 19-28, DOI: 10.1049/ic:20080053
IET Digital Library, https://digital-library.theiet.org/;jsessionid=a6n5s927clttp.x-iet-live-01content/conferences/10.1049/ic_20080053