mlsanityData to 7 Oct 2026

Argoverse: 3D Tracking and Forecasting with Rich Maps

arXiv 1911.02620 ↗First posted 6 Nov 2019cs.CV cs.ROcited by 728

Not on the map. Why?

Cited by 62 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We present Argoverse -- two datasets designed to support autonomous vehicle machine learning tasks such as 3D tracking and motion forecasting. Argoverse was collected by a fleet of autonomous vehicles in Pittsburgh and Miami. The Argoverse 3D Tracking dataset includes 360 degree images from 7 cameras with overlapping fields of view, 3D point clouds from long range LiDAR, 6-DOF pose, and 3D track annotations. Notably, it is the only modern AV dataset that provides forward-facing stereo imagery. The Argoverse Motion Forecasting dataset includes more than 300,000 5-second tracked scenarios with a particular vehicle identified for trajectory forecasting. Argoverse is the first autonomous vehicle dataset to include "HD maps" with 290 km of mapped lanes with geometric and semantic metadata. All data is released under a Creative Commons license at www.argoverse.org. In our baseline experiments, we illustrate how detailed map information such as lane direction, driveable area, and ground height improves the accuracy of 3D object tracking and motion forecasting. Our tracking and forecasting experiments represent only an initial exploration of the use of rich maps in robotic perception. We hope that Argoverse will enable the research community to explore these problems in greater depth.

Key facts. Cited by 728 papers in the map (data through 7 Oct 2026). First posted on arXiv 6 Nov 2019.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 108; 2022: 142; 2023: 161; 2024: 140; 2025: 115; 2026: 62.

728 papers.

Sort:

By area:

  1. 2022Block-NeRF: Scalable Large Scene Neural View Synthesiscited by 720
  2. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  3. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 570
  4. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 532
  5. 2021NuPlan: A closed-loop ML-based planning benchmark for autonomous vehiclescited by 485
  6. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 485
  7. 2022Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Trackingcited by 345
  8. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 292
  9. 2023A Survey on Multimodal Large Language Models for Autonomous Drivingcited by 288
  10. 2021MetaDrive: Composing Diverse Driving Scenarios for Generalizable Reinforcement Learningcited by 281
  11. 2022Wayformer: Motion Forecasting via Simple & Efficient Attention Networkscited by 279
  12. 2022Unifying Flow, Stereo and Depth Estimationcited by 270
38 more
  1. 2022Cross-view Transformers for real-time Map-view Semantic Segmentationcited by 264
  2. 2021Urban Radiance Fieldscited by 263
  3. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  4. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 243
  5. 2021One Million Scenes for Autonomous Driving: ONCE Datasetcited by 218
  6. 2023OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perceptioncited by 218
  7. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  8. 2022FUTR3D: A Unified Sensor Fusion Framework for 3D Detectioncited by 194
  9. 2021PandaSet: Advanced Sensor Suite Dataset for Autonomous Drivingcited by 186
  10. 2021Scene Transformer: A unified architecture for predicting multiple agent trajectoriescited by 165
  11. 2021Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Trackingcited by 165
  12. 2022Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wildcited by 159
  13. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  14. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
  15. 2023MotionLM: Multi-Agent Motion Forecasting as Language Modelingcited by 154
  16. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  17. 2022SHIFT: A Synthetic Driving Dataset for Continuous Multi-Task Domain Adaptationcited by 146
  18. 2023EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AIcited by 146
  19. 2022PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmarkcited by 140
  20. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  21. 2021Latent Variable Sequential Set Transformers For Joint Multi-Agent Motion Predictioncited by 131
  22. 2022Vision-Centric BEV Perception: A Surveycited by 126
  23. 2021HOME: Heatmap Output for future Motion Estimationcited by 122
  24. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  25. 2022ViP3D: End-to-end Visual Trajectory Prediction via 3D Agent Queriescited by 116
  26. 2021Translating Images into Mapscited by 115
  27. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  28. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  29. 2022HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encodingcited by 109
  30. 20213D Object Detection for Autonomous Driving: A Surveycited by 106
  31. 2024Towards learning-based planning:The nuPlan benchmark for real-world autonomous drivingcited by 103
  32. 2023Street-View Image Generation from a Bird's-Eye View Layoutcited by 102
  33. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
  34. 2021Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weathercited by 95
  35. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  36. 2021Neural Scene Flow Priorcited by 91
  37. 2024Editable Scene Simulation for Autonomous Driving via Collaborative LLM-Agentscited by 91
  38. 2023The Waymo Open Sim Agents Challengecited by 86

50 most cited of 728 All 728 (JSON)