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Probabilistic 3D Multi-Object Tracking for Autonomous Driving

arXiv 2001.05673 ↗First posted 16 Jan 2020cs.CV cs.ROcited by 64

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Abstract (arXiv)

3D multi-object tracking is a key module in autonomous driving applications that provides a reliable dynamic representation of the world to the planning module. In this paper, we present our on-line tracking method, which made the first place in the NuScenes Tracking Challenge, held at the AI Driving Olympics Workshop at NeurIPS 2019. Our method estimates the object states by adopting a Kalman Filter. We initialize the state covariance as well as the process and observation noise covariance with statistics from the training set. We also use the stochastic information from the Kalman Filter in the data association step by measuring the Mahalanobis distance between the predicted object states and current object detections. Our experimental results on the NuScenes validation and test set show that our method outperforms the AB3DMOT baseline method by a large margin in the Average Multi-Object Tracking Accuracy (AMOTA) metric.

Key facts. Cited by 64 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Jan 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 15; 2022: 23; 2023: 16; 2024: 8; 2025: 1; 2026: 1.

64 papers.

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  1. 2021Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Trackingcited by 165
  2. 2021SimpleTrack: Understanding and Rethinking 3D Multi-object Trackingcited by 102
  3. 2021EagerMOT: 3D Multi-Object Tracking via Sensor Fusioncited by 83
  4. 2021Box-Aware Feature Enhancement for Single Object Tracking on Point Cloudscited by 66
  5. 2021Exploring Simple 3D Multi-Object Tracking for Autonomous Drivingcited by 56
  6. 2022Beyond 3D Siamese Tracking: A Motion-Centric Paradigm for 3D Single Object Tracking in Point Cloudscited by 55
  7. 20213D Siamese Voxel-to-BEV Tracker for Sparse Point Cloudscited by 54
  8. 20223D Siamese Transformer Network for Single Object Tracking on Point Cloudscited by 44
  9. 2021Immortal Tracker: Tracklet Never Diescited by 42
  10. 2021Learnable Online Graph Representations for 3D Multi-Object Trackingcited by 38
  11. 2022STCrowd: A Multimodal Dataset for Pedestrian Perception in Crowded Scenescited by 35
  12. 20224D-StOP: Panoptic Segmentation of 4D LiDAR using Spatio-temporal Object Proposal Generation and Aggregationcited by 35
38 more
  1. 2022DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Associationcited by 33
  2. 2024ADA-Track++: End-to-End Multi-Camera 3D Multi-Object Tracking with Alternating Detection and Associationcited by 33
  3. 2021Score refinement for confidence-based 3D multi-object trackingcited by 32
  4. 2022PolarMOT: How Far Can Geometric Relations Take Us in 3D Multi-Object Tracking?cited by 29
  5. 2022CXTrack: Improving 3D Point Cloud Tracking with Contextual Informationcited by 28
  6. 20223D Multi-Object Tracking Using Graph Neural Networks with Cross-Edge Modality Attentioncited by 27
  7. 2023MBPTrack: Improving 3D Point Cloud Tracking with Memory Networks and Box Priorscited by 24
  8. 2021Exploiting Playbacks in Unsupervised Domain Adaptation for 3D Object Detectioncited by 21
  9. 2022ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Trackingcited by 21
  10. 20233DMOTFormer: Graph Transformer for Online 3D Multi-Object Trackingcited by 21
  11. 2022Multi-Camera Multiple 3D Object Tracking on the Move for Autonomous Vehiclescited by 19
  12. 2022GNN-PMB: A Simple but Effective Online 3D Multi-Object Tracker without Bells and Whistlescited by 15
  13. 2023Probabilistic 3D Multi-Object Cooperative Tracking for Autonomous Driving via Differentiable Multi-Sensor Kalman Filtercited by 15
  14. 2022Transformers for Multi-Object Tracking on Point Cloudscited by 14
  15. 2023An Effective Motion-Centric Paradigm for 3D Single Object Tracking in Point Cloudscited by 14
  16. 2023TrajectoryFormer: 3D Object Tracking Transformer with Predictive Trajectory Hypothesescited by 14
  17. 2023TrackFlow: Multi-Object Tracking with Normalizing Flowscited by 13
  18. 2022Neural Enhanced Belief Propagation for Multiobject Trackingcited by 11
  19. 2022SpOT: Spatiotemporal Modeling for 3D Object Trackingcited by 10
  20. 2022Minkowski Tracker: A Sparse Spatio-Temporal R-CNN for Joint Object Detection and Trackingcited by 9
  21. 2023LEGO: Learning and Graph-Optimized Modular Tracker for Online Multi-Object Tracking with Point Cloudscited by 9
  22. 2023You Only Need Two Detectors to Achieve Multi-Modal 3D Multi-Object Trackingcited by 8
  23. 2022Multi-Camera Multi-Object Tracking on the Move via Single-Stage Global Association Approachcited by 7
  24. 2022Multi-view Tracking, Re-ID, and Social Network Analysis of a Flock of Visually Similar Birds in an Outdoor Aviarycited by 7
  25. 2021Multi-Object Tracking using Poisson Multi-Bernoulli Mixture Filtering for Autonomous Vehiclescited by 6
  26. 2022InterTrack: Interaction Transformer for 3D Multi-Object Trackingcited by 6
  27. 2021Joint 3D Object Detection and Tracking Using Spatio-Temporal Representation of Camera Image and LiDAR Point Cloudscited by 5
  28. 2022Sequential Point Clouds: A Surveycited by 5
  29. 2023Selective Communication for Cooperative Perception in End-to-End Autonomous Drivingcited by 5
  30. 2022T2FPV: Dataset and Method for Correcting First-Person View Errors in Pedestrian Trajectory Predictioncited by 4
  31. 20233D Multiple Object Tracking on Autonomous Driving: A Literature Reviewcited by 4
  32. 2024JDT3D: Addressing the Gaps in LiDAR-Based Tracking-by-Attentioncited by 4
  33. 20243D Single-object Tracking in Point Clouds with High Temporal Variationcited by 4
  34. 2021A two-stage data association approach for 3D Multi-object Trackingcited by 3
  35. 20233D Multi-Object Tracking Based on Uncertainty-Guided Data Associationcited by 3
  36. 2024GSLAMOT: A Tracklet and Query Graph-based Simultaneous Locating, Mapping, and Multiple Object Tracking Systemcited by 3
  37. 2022DetFlowTrack: 3D Multi-object Tracking based on Simultaneous Optimization of Object Detection and Scene Flow Estimationcited by 2
  38. 2023BEVTrack: A Simple and Strong Baseline for 3D Single Object Tracking in Bird's-Eye Viewcited by 2

50 most cited of 64 All 64 (JSON)