# Joint Monocular 3D Vehicle Detection and Tracking

arXiv: https://arxiv.org/abs/1811.10742 · HTML: https://mlsanity.com/paper/1811.10742/

## Key facts

- Cited by 77 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Nov 2018.

## Built on by (most cited first, 30 of 77)

- [3D Object Detection for Autonomous Driving: A Comprehensive Survey](https://mlsanity.com/paper/2206.09474/) (2022)
- [EagerMOT: 3D Multi-Object Tracking via Sensor Fusion](https://mlsanity.com/paper/2104.14682/) (2021)
- [Monocular Quasi-Dense 3D Object Tracking](https://mlsanity.com/paper/2103.07351/) (2021)
- [Dynamic Spatial Propagation Network for Depth Completion](https://mlsanity.com/paper/2202.09769/) (2022)
- [MOTSynth: How Can Synthetic Data Help Pedestrian Detection and Tracking?](https://mlsanity.com/paper/2108.09518/) (2021)
- [DEFT: Detection Embeddings for Tracking](https://mlsanity.com/paper/2102.02267/) (2021)
- [CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusion](https://mlsanity.com/paper/2209.02540/) (2022)
- [MultiBodySync: Multi-Body Segmentation and Motion Estimation via 3D Scan Synchronization](https://mlsanity.com/paper/2101.06605/) (2021)
- [3D-SiamRPN: An End-to-End Learning Method for Real-Time 3D Single Object Tracking Using Raw Point Cloud](https://mlsanity.com/paper/2108.05630/) (2021)
- [Auto4D: Learning to Label 4D Objects from Sequential Point Clouds](https://mlsanity.com/paper/2101.06586/) (2021)
- [Incremental 3D Semantic Scene Graph Prediction from RGB Sequences](https://mlsanity.com/paper/2305.02743/) (2023)
- [STCrowd: A Multimodal Dataset for Pedestrian Perception in Crowded Scenes](https://mlsanity.com/paper/2204.01026/) (2022)
- [Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overview](https://mlsanity.com/paper/2105.14291/) (2021)
- [CC-3DT: Panoramic 3D Object Tracking via Cross-Camera Fusion](https://mlsanity.com/paper/2212.01247/) (2022)
- [Time3D: End-to-End Joint Monocular 3D Object Detection and Tracking for Autonomous Driving](https://mlsanity.com/paper/2205.14882/) (2022)
- [Quo Vadis: Is Trajectory Forecasting the Key Towards Long-Term Multi-Object Tracking?](https://mlsanity.com/paper/2210.07681/) (2022)
- [Attention meets Geometry: Geometry Guided Spatial-Temporal Attention for Consistent Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/2110.08192/) (2021)
- [Track without Appearance: Learn Box and Tracklet Embedding with Local and Global Motion Patterns for Vehicle Tracking](https://mlsanity.com/paper/2108.06029/) (2021)
- [TripletTrack: 3D Object Tracking using Triplet Embeddings and LSTM](https://mlsanity.com/paper/2210.16204/) (2022)
- [A Lightweight and Detector-free 3D Single Object Tracker on Point Clouds](https://mlsanity.com/paper/2203.04232/) (2022)
- [ODAM: Object Detection, Association, and Mapping using Posed RGB Video](https://mlsanity.com/paper/2108.10165/) (2021)
- [TrackMPNN: A Message Passing Graph Neural Architecture for Multi-Object Tracking](https://mlsanity.com/paper/2101.04206/) (2021)
- [Looking Beyond Two Frames: End-to-End Multi-Object Tracking Using Spatial and Temporal Transformers](https://mlsanity.com/paper/2103.14829/) (2021)
- [MonoGRNet: A General Framework for Monocular 3D Object Detection](https://mlsanity.com/paper/2104.08797/) (2021)
- [Multi-Camera Multiple 3D Object Tracking on the Move for Autonomous Vehicles](https://mlsanity.com/paper/2204.09151/) (2022)
- [Split and Connect: A Universal Tracklet Booster for Multi-Object Tracking](https://mlsanity.com/paper/2105.02426/) (2021)
- [RayTran: 3D pose estimation and shape reconstruction of multiple objects from videos with ray-traced transformers](https://mlsanity.com/paper/2203.13296/) (2022)
- [MonoMAE: Enhancing Monocular 3D Detection through Depth-Aware Masked Autoencoders](https://mlsanity.com/paper/2405.07696/) (2024)
- [Pixel-Aligned Recurrent Queries for Multi-View 3D Object Detection](https://mlsanity.com/paper/2310.01401/) (2023)
- [Towards Sequence-Level Training for Visual Tracking](https://mlsanity.com/paper/2208.05810/) (2022)

## Abstract (arXiv)

Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle detection and tracking from monocular videos. The framework can not only associate detections of vehicles in motion over time, but also estimate their complete 3D bounding box information from a sequence of 2D images captured on a moving platform. Our method leverages 3D box depth-ordering matching for robust instance association and utilizes 3D trajectory prediction for re-identification of occluded vehicles. We also design a motion learning module based on an LSTM for more accurate long-term motion extrapolation. Our experiments on simulation, KITTI, and Argoverse datasets show that our 3D tracking pipeline offers robust data association and tracking. On Argoverse, our image-based method is significantly better for tracking 3D vehicles within 30 meters than the LiDAR-centric baseline methods.