# Simple Online and Realtime Tracking

arXiv: https://arxiv.org/abs/1602.00763 · HTML: https://mlsanity.com/paper/1602.00763/

## Key facts

- Cited by 868 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Feb 2016.

## Built on by (most cited first, 30 of 868)

- [ByteTrack: Multi-Object Tracking by Associating Every Detection Box](https://mlsanity.com/paper/2110.06864/) (2021)
- [MOTR: End-to-End Multiple-Object Tracking with Transformer](https://mlsanity.com/paper/2105.03247/) (2021)
- [Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Tracking](https://mlsanity.com/paper/2203.14360/) (2022)
- [BoT-SORT: Robust Associations Multi-Pedestrian Tracking](https://mlsanity.com/paper/2206.14651/) (2022)
- [CelebV-HQ: A Large-Scale Video Facial Attributes Dataset](https://mlsanity.com/paper/2207.12393/) (2022)
- [DanceTrack: Multi-Object Tracking in Uniform Appearance and Diverse Motion](https://mlsanity.com/paper/2111.14690/) (2021)
- [StrongSORT: Make DeepSORT Great Again](https://mlsanity.com/paper/2202.13514/) (2022)
- [VFHQ: A High-Quality Dataset and Benchmark for Video Face Super-Resolution](https://mlsanity.com/paper/2205.03409/) (2022)
- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [Track to Detect and Segment: An Online Multi-Object Tracker](https://mlsanity.com/paper/2103.08808/) (2021)
- [MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectors](https://mlsanity.com/paper/2211.09791/) (2022)
- [Deep OC-SORT: Multi-Pedestrian Tracking by Adaptive Re-Identification](https://mlsanity.com/paper/2302.11813/) (2023)
- [SportsMOT: A Large Multi-Object Tracking Dataset in Multiple Sports Scenes](https://mlsanity.com/paper/2304.05170/) (2023)
- [Simple-BEV: What Really Matters for Multi-Sensor BEV Perception?](https://mlsanity.com/paper/2206.07959/) (2022)
- [Learning to Track with Object Permanence](https://mlsanity.com/paper/2103.14258/) (2021)
- [Joint Hand Motion and Interaction Hotspots Prediction from Egocentric Videos](https://mlsanity.com/paper/2204.01696/) (2022)
- [Global Tracking Transformers](https://mlsanity.com/paper/2203.13250/) (2022)
- [CelebV-Text: A Large-Scale Facial Text-Video Dataset](https://mlsanity.com/paper/2303.14717/) (2023)
- [SimpleTrack: Understanding and Rethinking 3D Multi-object Tracking](https://mlsanity.com/paper/2111.09621/) (2021)
- [TransMOT: Spatial-Temporal Graph Transformer for Multiple Object Tracking](https://mlsanity.com/paper/2104.00194/) (2021)
- [Towards Grand Unification of Object Tracking](https://mlsanity.com/paper/2207.07078/) (2022)
- [Referring Multi-Object Tracking](https://mlsanity.com/paper/2303.03366/) (2023)
- [MeMOTR: Long-Term Memory-Augmented Transformer for Multi-Object Tracking](https://mlsanity.com/paper/2307.15700/) (2023)
- [Collaborative Perception in Autonomous Driving: Methods, Datasets and Challenges](https://mlsanity.com/paper/2301.06262/) (2023)
- [LLM-grounded Video Diffusion Models](https://mlsanity.com/paper/2309.17444/) (2023)
- [SoccerNet-Tracking: Multiple Object Tracking Dataset and Benchmark in Soccer Videos](https://mlsanity.com/paper/2204.06918/) (2022)
- [Video K-Net: A Simple, Strong, and Unified Baseline for Video Segmentation](https://mlsanity.com/paper/2204.04656/) (2022)
- [STEP: Segmenting and Tracking Every Pixel](https://mlsanity.com/paper/2102.11859/) (2021)
- [Object-Region Video Transformers](https://mlsanity.com/paper/2110.06915/) (2021)
- [General Object Foundation Model for Images and Videos at Scale](https://mlsanity.com/paper/2312.09158/) (2023)

## Abstract (arXiv)

This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications. To this end, detection quality is identified as a key factor influencing tracking performance, where changing the detector can improve tracking by up to 18.9%. Despite only using a rudimentary combination of familiar techniques such as the Kalman Filter and Hungarian algorithm for the tracking components, this approach achieves an accuracy comparable to state-of-the-art online trackers. Furthermore, due to the simplicity of our tracking method, the tracker updates at a rate of 260 Hz which is over 20x faster than other state-of-the-art trackers.