Matteo Bregonzio Murtaza Taj Andrea Cavallaro Multi-Modal Particle Filtering Tracking using Appearance, Motion and Audio Likelihoods. 33-36 2007 ICIP (5) http://dx.doi.org/10.1109/ICIP.2007.4379758 conf/icip/2007 db/conf/icip/icip2007-5.html#BregonzioTC07