[ros-users] People following literature

Hi,

I'm trying to figure out how the people following demo works by looking at the code at people_experimental, but I'm finding it quite challenging.

I was wondering if there's any paper published about this topic by either of you Ethan or Caroline (or whoever else involved), or if you can point me to any other work you've based the code in this stack on. That would be of great help.

Thanks in advance.

Miguel.