NDLI: The Cardinalized Optimal Linear Assignment (COLA) metric for multi-object error evaluation

Content Provider	IEEE Xplore Digital Library
Author	Barrios, P. Naqvi, G. Adams, M. Leung, K. Inostroza, F.
Copyright Year	2015
Description	Author affiliation: Adv. Min. Technol. Center, Univ. de Chile, Santiago, Chile (Barrios, P.; Naqvi, G.; Adams, M.; Leung, K.; Inostroza, F.)
Abstract	Fundamental to any state estimation problem is the concept of estimation error. In both autonomous robotics and tracking research, the ability to assess the performance of robotic mapping and target tracking algorithms is of crucial importance. This article focusses on metrics for the automatic evaluation of target tracking and feature map estimation algorithms, in the presence of both detection and spatial uncertainty. In such realistic cases, many metrics fail to provide a meaningful and intuitive assessment of robotic map estimates. Recently the Optimal Sub-pattern Assignment (OSPA) metric provided a solution, as it was shown to provide more meaningful assessments of target tracking algorithm performance than its predecessors. This article will demonstrate that the OSPA metric still suffers various disadvantages under realistic mapping scenarios. These include its saturation to a limiting value, irrespective of the cardinality error of different estimators, and its inability to distinguish between repetitions of balanced estimates, in which single ground truth features are estimated with multiple false alarms. The Cardinalized Optimal Linear Assignment (COLA) metric is therefore introduced as a complement to the OSPA metric, and their combination is analysed in order to gauge target tracking and map estimation errors in an intuitive and meaningful manner.
Starting Page	271
Ending Page	279
File Size	3681357
Page Count	9
File Format	PDF
e-ISBN	9780982443866
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-06
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	ISIF
Subject Keyword	Simultaneous localization and mapping Trajectory Target tracking Estimation error Algorithm design and analysis
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A new performance metric for multiple target tracking based on optimal subpattern assignment

Stereo-based simultaneous localization, mapping and moving object tracking

Probability Based Optimal Algorithms for Multi-sensor Multi-target Detection

Simultaneous camera orientation estimation and road target tracking

New Track Correlation Algorithm of Distributed Multi-sensor System

A generic framework for scalable and convergent multi-robot active simultaneous localization, mapping and target tracking

Continuous-time estimation for dynamic obstacle tracking

Applied multi-object tracking algorithm based on inverse linear quadratic theory to artificial robot

Subjective exploration for simultaneous localization and mapping used in ruins

The Cardinalized Optimal Linear Assignment (COLA) metric for multi-object error evaluation

Similar Documents

A new performance metric for multiple target tracking based on optimal subpattern assignment

Stereo-based simultaneous localization, mapping and moving object tracking

Probability Based Optimal Algorithms for Multi-sensor Multi-target Detection

Simultaneous camera orientation estimation and road target tracking

New Track Correlation Algorithm of Distributed Multi-sensor System

A generic framework for scalable and convergent multi-robot active simultaneous localization, mapping and target tracking

Continuous-time estimation for dynamic obstacle tracking

Applied multi-object tracking algorithm based on inverse linear quadratic theory to artificial robot

Subjective exploration for simultaneous localization and mapping used in ruins

The Cardinalized Optimal Linear Assignment (COLA) metric for multi-object error evaluation