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We propose a numerically efficient technique to approximate the joint detection probability of a coherent multiple input multiple output (MIMO) receiver in the presence of inter-symbol interference (ISI) and additive white Gaussian noise (AWGN). This technique approximates the probability of detection by numerically integrating the product of the characteristic function (CF) of the received filtered signal with the Fourier transform of the multi-dimension decision region. Naturally, the accuracy of the approximation is dependent on the number of points in the numerical integration. The proposed method selects the number of points to integrate over by deriving bounds on the approximation error. As such, a reduction of up to 1/100th of the number points can be achieved when comparing with existing single input single output (SISO) techniques. Simulation results demonstrate that the proposed method is highly accurate with the calculated errors being well within the bounded approximation error. In addition, the results are closely matched with those obtained using the Monte Carlo simulations with a typical error less than 10-4 while requiring only a fraction of the computation time.