mlsanityData to 14 Oct 2026

GOSPA and T-GOSPA quasi-metrics for evaluation of multi-object tracking algorithms

arXiv 2507.13706 ↗First posted 18 Jul 2025cs.CV math.ST stat.THcited by 0

Not on the map. Why?

Abstract (arXiv)

This paper introduces two quasi-metrics for performance assessment of multi-object tracking (MOT) algorithms. One quasi-metric is an extension of the generalised optimal subpattern assignment (GOSPA) metric and measures the discrepancy between sets of objects. The other quasi-metric is an extension of the trajectory GOSPA (T-GOSPA) metric and measures the discrepancy between sets of trajectories. Similar to the GOSPA-based metrics, these quasi-metrics include costs for localisation error for properly detected objects, the number of false objects and the number of missed objects. The T-GOSPA quasi-metric also includes a track switching cost. Differently from the GOSPA and T-GOSPA metrics, the proposed quasi-metrics have the flexibility of penalising missed and false objects with different costs, and the localisation costs are not required to be symmetric. We also explain how to obtain similarity score functions based on these quasi-metrics. The performance of several Bayesian MOT algorithms is assessed with the T-GOSPA quasi-metric via simulations.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 17 of its 55 references that are in the map. First posted on arXiv 18 Jul 2025.

Builds on

17 of 55 references.

References · 17

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2020HOTA: A Higher Order Metric for Evaluating Multi-Object Trackingcited by 552
  3. 2023Optimal Goal-Reaching Reinforcement Learning via Quasimetric Learningcited by 121
  4. 2016Generalized optimal sub-pattern assignment metriccited by 33
  5. 2017Poisson multi-Bernoulli mixture filter: direct derivation and implementationcited by 29
  6. 2016A metric on the space of finite sets of trajectories for evaluation of multi-target tracking algorithmscited by 17
  7. 2022On the Learning and Learnability of Quasimetricscited by 15
  8. 2016Multiple target tracking based on sets of trajectoriescited by 11
  9. 2020Trajectory Poisson multi-Bernoulli filterscited by 11
  10. 2016A metric for sets of trajectories that is practical and mathematically consistentcited by 7
  11. 2021A time-weighted metric for sets of trajectories to assess multi-object tracking algorithmscited by 6
  12. 2019Poisson Multi-Bernoulli Mixtures for Sets of Trajectoriescited by 4
5 more
  1. 2014An efficient, variational approximation of the best fitting multi-Bernoulli filtercited by 3
  2. 2024Probabilistic GOSPA: A Metric for Performance Evaluation of Multi-Object Filters with Uncertaintiescited by 3
  3. 2025From Target Tracking to Targeting Track -- Part I: A Metric for Spatio-Temporal Trajectory Evaluationcited by 2
  4. 2025Fast computation of the TGOSPA metric for multiple target tracking via unbalanced optimal transportcited by 1
  5. 2025Probabilistic Trajectory GOSPA: A Metric for Uncertainty-Aware Multi-Object Tracking Performance Evaluationcited by 1

Built on by

Not cited yet.