The Cardinalized Optimal Linear Assignment (COLA) metric for multi-object error evaluation. - Pablo Barrios; Ghayur Naqvi; Martin David Adams; Keith Yu Kit Leung; Felipe Inostroza (FUSION, 2015)

Metrics for Evaluating Feature-Based Mapping Performance. - Pablo Barrios; Martin Adams; Keith Yu Kit Leung; Felipe Inostroza; Ghayur Naqvi; Marcos E. Orchard (IEEE Trans. Robotics, 2017)