Hi, all. I am learning this [people package](http://wiki.ros.org/people?distro=indigo) by tracking legs. However, because there are no comments in the source code, I am confused about what kind of tracking method this package uses.
Is it a two-level tracking method? The low-level is by kalman filter, and the high-level is by particle filter. Each particle from particle filter is updated by kalman filter, i.e. a joint probablilistic data association filter(JPDAF)?
Thanks! @David lu
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