@misc{W2126885789,
  author = {Dominic Schuhmacher and Ba-Tuong Vo and Ba‐Ngu Vo},
  title = {A Consistent Metric for Performance Evaluation of Multi-Object Filters},
  year = {2008},
  howpublished = {IEEE Transactions on Signal Processing},
  doi = {https://doi.org/10.1109/tsp.2008.920469}
}