William Ketchantang Stéphane Derrode Lionel Martin Salah Bourennane Pearson-based mixture model for color object tracking. 457-466 2008 19 Mach. Vis. Appl. 5-6 http://dx.doi.org/10.1007/s00138-008-0124-4 db/journals/mva/mva19.html#KetchantangDMB08