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Simple Online and Realtime Tracking with a Deep Association Metric

arXiv 1703.07402 ↗First posted 21 Mar 2017cs.CVcited by 908

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Abstract (arXiv)

Simple Online and Realtime Tracking (SORT) is a pragmatic approach to multiple object tracking with a focus on simple, effective algorithms. In this paper, we integrate appearance information to improve the performance of SORT. Due to this extension we are able to track objects through longer periods of occlusions, effectively reducing the number of identity switches. In spirit of the original framework we place much of the computational complexity into an offline pre-training stage where we learn a deep association metric on a large-scale person re-identification dataset. During online application, we establish measurement-to-track associations using nearest neighbor queries in visual appearance space. Experimental evaluation shows that our extensions reduce the number of identity switches by 45%, achieving overall competitive performance at high frame rates.

Key facts. Cited by 908 papers in the map (data through 7 Oct 2026). First posted on arXiv 21 Mar 2017.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2018: 1; 2019: 0; 2020: 0; 2021: 125; 2022: 154; 2023: 156; 2024: 192; 2025: 160; 2026: 120.

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  1. 2021ByteTrack: Multi-Object Tracking by Associating Every Detection Boxcited by 812
  2. 2021MOTR: End-to-End Multiple-Object Tracking with Transformercited by 379
  3. 2022Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Trackingcited by 345
  4. 2022BoT-SORT: Robust Associations Multi-Pedestrian Trackingcited by 313
  5. 2021A Survey of Human-in-the-loop for Machine Learningcited by 214
  6. 2021DanceTrack: Multi-Object Tracking in Uniform Appearance and Diverse Motioncited by 213
  7. 2022StrongSORT: Make DeepSORT Great Againcited by 213
  8. 2023Universal Instance Perception as Object Discovery and Retrievalcited by 190
  9. 2023Towards Open Vocabulary Learning: A Surveycited by 165
  10. 2021Track to Detect and Segment: An Online Multi-Object Trackercited by 156
  11. 2021Occluded Video Instance Segmentation: A Benchmarkcited by 154
  12. 2021GLAMR: Global Occlusion-Aware Human Mesh Recovery with Dynamic Camerascited by 151
38 more
  1. 2022MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectorscited by 148
  2. 2023Deep OC-SORT: Multi-Pedestrian Tracking by Adaptive Re-Identificationcited by 130
  3. 2023SportsMOT: A Large Multi-Object Tracking Dataset in Multiple Sports Scenescited by 130
  4. 2021Learning to Track with Object Permanencecited by 117
  5. 2022MeMOT: Multi-Object Tracking with Memorycited by 113
  6. 2021SimpleTrack: Understanding and Rethinking 3D Multi-object Trackingcited by 102
  7. 2021TransMOT: Spatial-Temporal Graph Transformer for Multiple Object Trackingcited by 93
  8. 2022Towards Grand Unification of Object Trackingcited by 93
  9. 2023Referring Multi-Object Trackingcited by 91
  10. 2022MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queriescited by 90
  11. 2021Face Forensics in the Wildcited by 87
  12. 2023MeMOTR: Long-Term Memory-Augmented Transformer for Multi-Object Trackingcited by 86
  13. 2021Crossover Learning for Fast Online Video Instance Segmentationcited by 83
  14. 2021Monocular Quasi-Dense 3D Object Trackingcited by 80
  15. 2022Video K-Net: A Simple, Strong, and Unified Baseline for Video Segmentationcited by 79
  16. 2023General Object Foundation Model for Images and Videos at Scalecited by 71
  17. 2021A Survey on Interpretable Reinforcement Learningcited by 70
  18. 2021Grounding Physical Concepts of Objects and Events Through Dynamic Visual Reasoningcited by 68
  19. 2021Multiple Object Tracking with Correlation Learningcited by 67
  20. 2022Hard to Track Objects with Irregular Motions and Similar Appearances? Make It Easier by Buffering the Matching Spacecited by 66
  21. 2023Hybrid-SORT: Weak Cues Matter for Online Multi-Object Trackingcited by 66
  22. 2023MotionTrack: Learning Robust Short-term and Long-term Motions for Multi-Object Trackingcited by 64
  23. 2021SiamMOT: Siamese Multi-Object Trackingcited by 62
  24. 2021Do Different Tracking Tasks Require Different Appearance Models?cited by 62
  25. 2022Unifying Short and Long-Term Tracking with Graph Hierarchiescited by 62
  26. 2022QDTrack: Quasi-Dense Similarity Learning for Appearance-Only Multiple Object Trackingcited by 61
  27. 2023SACSoN: Scalable Autonomous Control for Social Navigationcited by 60
  28. 2024DiffMOT: A Real-time Diffusion-based Multiple Object Tracker with Non-linear Predictioncited by 59
  29. 2023EgoHumans: An Egocentric 3D Multi-Human Benchmarkcited by 58
  30. 2024Multiple Object Tracking as ID Predictioncited by 58
  31. 2021DEFT: Detection Embeddings for Trackingcited by 56
  32. 2022APT-36K: A Large-scale Benchmark for Animal Pose Estimation and Trackingcited by 55
  33. 2023Standing Between Past and Future: Spatio-Temporal Modeling for Multi-Camera 3D Multi-Object Trackingcited by 54
  34. 2023OVTrack: Open-Vocabulary Multiple Object Trackingcited by 53
  35. 2021RelationTrack: Relation-aware Multiple Object Tracking with Decoupled Representationcited by 52
  36. 2022CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusioncited by 50
  37. 2024Matching Anything by Segmenting Anythingcited by 49
  38. 2021Predicting Pedestrian Crossing Intention with Feature Fusion and Spatio-Temporal Attentioncited by 48

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