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There's an innumerable number of ways to compute some localization metric, so I won't try to do so but I can tell you that the covariance information, qualities of the particle cloud (number, distribution, scores, resampled distribution) all contain information you may use to compute such a metric.

I've done this before using some data set I had an operator label with "good" versus "bad" localization and trained a simple AI to give me some output. But you can probably do something simpler with PCA, distribution properties, directly analyzing the covariance information, etc.