I would like to request some information regarding 'hector_worldmodel' stack. In the description here, it is mentioned as below:

The hector_worldmodel stack helps to collect and fuse information about objects in the world. It is used by Team Hector Darmstadt to localize victims..

My questions are:

1. What are the sensors used to detect the victim?
2. What is the algorithm used?
3. Is this for indoor or outdoor purpose?
4. Is it ever tested with a UAV under simulation environment?

I've tried to dig into the code, but I couldn't find it. Also, I would be great if it has some sort of a conference/journal paper that I can refer pertaining to this.

Thanks in advance.