@article{sung2015hierarchical,
  title={Hierarchical sample-based joint probabilistic data association filter for following human legs using a mobile robot in a cluttered environment},
  author={Sung, Yoonchang and Chung, Woojin},
  journal={IEEE Transactions on Human-Machine Systems},
  volume={46},
  number={3},
  pages={340--349},
  year={2015},
  publisher={IEEE}
}