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

This paper proposes and evaluates a new metric. This metric will overcome a limitation of the Optimal Subpattern Assignment (OSPA) metric mentioned by Schuhmacher et al.: the OSPA distance between two sets of points is insensitive to the the case where one is empty. This proposed metric called Complete OSPA (COSPA), retains all the advantages of the OSPA metric for evaluating the performance of multiple target filtering algorithms while also allowing separate control over the threshold of physical distance errors and cardinality errors.