This was a very frustrating panel. The figure in the foreground is meant to be a little higher than the rest of the figures in the scene because he has just come out of a building and is standing on the front steps. The figures in the street would appear a little lower. Normally, I try to eyeball my perspective, but I just kept getting it wrong and having to erase over and over. I decided to try technical perspective, but that kept giving me results that were too precise. I couldn't force the perspective at all. Finally, I went with a mix of technical and freehand perspective, and I'm pretty happy with the final result. I think I may have found what I've been looking for.
These pencils are being done with a couple of different lead colors to help me keep the planes and elements clear. I like working this way. It allows me to sketch in one color and tighten in another.