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Garcia-Fernandez, Angel F 
ORCID: 0000-0002-6471-8455 and Vo, Ba-Ngu
(2015)
Derivation of the PHD and CPHD Filters Based on Direct Kullback–Leibler Divergence Minimization.
IEEE Transactions on Signal Processing, 63 (21).
pp. 5812-5820.