Open AccessFast Computation of the TGOSPA Metric for Multiple Target Tracking Via Unbalanced Optimal Transport
Author(s) -
Viktor Nevelius Wernholm,
Alfred Warnsater,
Axel Ringh
Publication year - 2025
Publication title -
ieee control systems letters
Language(s) - English
Resource type - Magazines
SCImago Journal Rank - 1.154
H-Index - 21
eISSN - 2475-1456
DOI - 10.1109/lcsys.2025.3573880
Subject(s) - robotics and control systems , computing and processing , components, circuits, devices and systems
In multiple target tracking, it is important to be able to evaluate the performance of different tracking algorithms. The trajectory generalized optimal sub-pattern assignment metric (TGOSPA) is a recently proposed metric for such evaluations. The TGOSPA metric is computed as the solution to an optimization problem, but for large tracking scenarios, solving this problem becomes computationally demanding. In this paper, we present an approximation algorithm for evaluating the TGOSPA metric, based on casting the TGOSPA problem as an unbalanced multimarginal optimal transport problem. Following recent advances in computational optimal transport, we introduce an entropy regularization and derive an iterative scheme for solving the Lagrangian dual of the regularized problem. Numerical results suggest that our proposed algorithm is more computationally efficient than the alternative of computing the exact metric using a linear programming solver, while still providing an adequate approximation of the metric.