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   author = {Granstr{\"o}m, Karl and Lundquist, Christian and Orguner, Umut},
   institution = {Linköping University, Automatic Control},
   institution = {Linköping University, The Institute of Technology},
   journal = {IEEE Transactions on Aerospace and Electronic Systems},
   number = {4},
   pages = {3268--3286},
   title = {Extended Target Tracking Using a Gaussian-Mixture PHD Filter},
   volume = {48},
   year = {2012}

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