Changjiang Yang Ramani Duraiswami Larry S. Davis Fast Multiple Object Tracking via a Hierarchical Particle Filter. 212-219 2005 conf/iccv/2005 ICCV http://doi.ieeecomputersociety.org/10.1109/ICCV.2005.95 db/conf/iccv/iccv2005-1.html#YangDD05