Sen Wang Qinglong Bao Jiameng Pan Multi-Bernoulli Mixture Filter: Complete Derivation and Sequential Monte Carlo Implementation. 1-5 2021 CISP-BMEI https://doi.org/10.1109/CISP-BMEI53629.2021.9624421 conf/bmei/2021 db/conf/bmei/bmei2021.html#WangBP21