@article{approximateevaluationofmarginal,
  title = {Approximate evaluation of marginal association probabilities with belief propagation},
  author = {Jason L. Williams and Roslyn A. Lau},
  year = {2012},
  eprint = {1209.6299},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1209.6299v2},
}