Thanks!
For those interested in the math, see the heading "Consensus genotype calling" in the "Methods" section of the paper.
Basically, it's a Bayesian probability model where you want P(genotype g | observed data D), which you can get from Bayes' theorem if you have P(D | g), which the paper explains how to get. Then you estimate g as g* = argmax[g] P(g | D)