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This paper proposes and evaluates a new metric. This metric will overcome alimitation of the Optimal Subpattern Assignment (OSPA) metric mentioned bySchuhmacher et al.: the OSPA distance between two sets of points is insensitiveto the the case where one is empty. This proposed metric called Complete OSPA(COSPA), retains all the advantages of the OSPA metric for evaluating theperformance of multiple target filtering algorithms while also allowingseparate control over the threshold of physical distance errors and cardinalityerrors.

A New Optimal Subpattern Assignment (OSPA) Metric for Multi-target Filtering