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HOTA: A Higher Order Metric for Evaluating Multi-Object Tracking

arXiv 2009.07736 ↗First posted 16 Sep 2020cs.CVcited by 546

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Abstract (arXiv)

Multi-Object Tracking (MOT) has been notoriously difficult to evaluate. Previous metrics overemphasize the importance of either detection or association. To address this, we present a novel MOT evaluation metric, HOTA (Higher Order Tracking Accuracy), which explicitly balances the effect of performing accurate detection, association and localization into a single unified metric for comparing trackers. HOTA decomposes into a family of sub-metrics which are able to evaluate each of five basic error types separately, which enables clear analysis of tracking performance. We evaluate the effectiveness of HOTA on the MOTChallenge benchmark, and show that it is able to capture important aspects of MOT performance not previously taken into account by established metrics. Furthermore, we show HOTA scores better align with human visual evaluation of tracking performance.

Key facts. Cited by 546 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Sep 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 34; 2022: 76; 2023: 100; 2024: 121; 2025: 115; 2026: 100.

546 papers.

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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. 2022Kubric: A scalable dataset generatorcited by 373
  4. 2022Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Trackingcited by 345
  5. 2023Humans in 4D: Reconstructing and Tracking Humans with Transformerscited by 344
  6. 2022BoT-SORT: Robust Associations Multi-Pedestrian Trackingcited by 313
  7. 2023Perception Test: A Diagnostic Benchmark for Multimodal Video Modelscited by 310
  8. 2022TAP-Vid: A Benchmark for Tracking Any Point in a Videocited by 258
  9. 2021DanceTrack: Multi-Object Tracking in Uniform Appearance and Diverse Motioncited by 213
  10. 2022StrongSORT: Make DeepSORT Great Againcited by 213
  11. 2023Tracking Anything with Decoupled Video Segmentationcited by 197
  12. 2023Putting the Object Back into Video Object Segmentationcited by 182
38 more
  1. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  2. 2022MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectorscited by 148
  3. 2023Deep OC-SORT: Multi-Pedestrian Tracking by Adaptive Re-Identificationcited by 130
  4. 2023SportsMOT: A Large Multi-Object Tracking Dataset in Multiple Sports Scenescited by 130
  5. 2023Transformer-Based Visual Segmentation: A Surveycited by 124
  6. 2021Learning to Track with Object Permanencecited by 117
  7. 2022MeMOT: Multi-Object Tracking with Memorycited by 113
  8. 2022Global Tracking Transformerscited by 110
  9. 2023Referring Multi-Object Trackingcited by 91
  10. 2023TRACE: 5D Temporal Regression of Avatars with Dynamic Cameras in 3D Environmentscited by 89
  11. 2023MeMOTR: Long-Term Memory-Augmented Transformer for Multi-Object Trackingcited by 86
  12. 2021EagerMOT: 3D Multi-Object Tracking via Sensor Fusioncited by 83
  13. 2022SoccerNet-Tracking: Multiple Object Tracking Dataset and Benchmark in Soccer Videoscited by 80
  14. 2021STEP: Segmenting and Tracking Every Pixelcited by 72
  15. 2022BURST: A Benchmark for Unifying Object Recognition, Segmentation and Tracking in Videocited by 66
  16. 2022Hard to Track Objects with Irregular Motions and Similar Appearances? Make It Easier by Buffering the Matching Spacecited by 66
  17. 2023Hybrid-SORT: Weak Cues Matter for Online Multi-Object Trackingcited by 66
  18. 20214D Panoptic LiDAR Segmentationcited by 64
  19. 2023MotionTrack: Learning Robust Short-term and Long-term Motions for Multi-Object Trackingcited by 64
  20. 2021Do Different Tracking Tasks Require Different Appearance Models?cited by 62
  21. 2022Unifying Short and Long-Term Tracking with Graph Hierarchiescited by 62
  22. 2022QDTrack: Quasi-Dense Similarity Learning for Appearance-Only Multiple Object Trackingcited by 61
  23. 2024DiffMOT: A Real-time Diffusion-based Multiple Object Tracker with Non-linear Predictioncited by 59
  24. 2023EgoHumans: An Egocentric 3D Multi-Human Benchmarkcited by 58
  25. 2024Multiple Object Tracking as ID Predictioncited by 58
  26. 2022Waymo Open Dataset: Panoramic Video Panoptic Segmentationcited by 57
  27. 2021RelationTrack: Relation-aware Multiple Object Tracking with Decoupled Representationcited by 52
  28. 2021Opening up Open-World Trackingcited by 50
  29. 2022CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusioncited by 50
  30. 2024Matching Anything by Segmenting Anythingcited by 49
  31. 2023SparseTrack: Multi-Object Tracking by Performing Scene Decomposition based on Pseudo-Depthcited by 48
  32. 2021Learnable Graph Matching: Incorporating Graph Partitioning with Deep Feature Learning for Multiple Object Trackingcited by 47
  33. 2023Towards Open-Vocabulary Video Instance Segmentationcited by 45
  34. 2022Simple Cues Lead to a Strong Multi-Object Trackercited by 44
  35. 2022Tracking Every Thing in the Wildcited by 44
  36. 2021Learning a Proposal Classifier for Multiple Object Trackingcited by 42
  37. 2023MOTRv3: Release-Fetch Supervision for End-to-End Multi-Object Trackingcited by 42
  38. 2023UCMCTrack: Multi-Object Tracking with Uniform Camera Motion Compensationcited by 42

50 most cited of 546 All 546 (JSON)