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Optimized object tracking technique using Kalman filter:

Taylor, Liana Ellen ; Mirdanies, Midriem ; Saputra, Roni Permana
Journal of Mechatronics, Electrical Power, and Vehicular Technology.  7 (2016)  1 - p. 57-66 , 2016
Link: https://doi.org/10.14203/j.mev.2016.v7.57-66