P-GOSPA is a true metric on multi-Bernoulli densities that reduces to GOSPA for deterministic sets and decomposes into localization, existence mismatch, missed detection, and false detection errors.
Performance evaluation methods for multiple-target-tracking algorithms,
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Probabilistic GOSPA: A Metric for Performance Evaluation of Multi-Object Filters with Uncertainties
P-GOSPA is a true metric on multi-Bernoulli densities that reduces to GOSPA for deterministic sets and decomposes into localization, existence mismatch, missed detection, and false detection errors.