mlsanityData to 7 Oct 2026

EagerMOT: 3D Multi-Object Tracking via Sensor Fusion

arXiv 2104.14682 ↗First posted 29 Apr 2021cs.CV cs.ROcited by 83

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Abstract (arXiv)

Multi-object tracking (MOT) enables mobile robots to perform well-informed motion planning and navigation by localizing surrounding objects in 3D space and time. Existing methods rely on depth sensors (e.g., LiDAR) to detect and track targets in 3D space, but only up to a limited sensing range due to the sparsity of the signal. On the other hand, cameras provide a dense and rich visual signal that helps to localize even distant objects, but only in the image domain. In this paper, we propose EagerMOT, a simple tracking formulation that eagerly integrates all available object observations from both sensor modalities to obtain a well-informed interpretation of the scene dynamics. Using images, we can identify distant incoming objects, while depth estimates allow for precise trajectory localization as soon as objects are within the depth-sensing range. With EagerMOT, we achieve state-of-the-art results across several MOT tasks on the KITTI and NuScenes datasets. Our code is available at https://github.com/aleksandrkim61/EagerMOT.

Key facts. Cited by 83 papers in the map (data through 7 Oct 2026). Builds on 32 of its 43 references that are in the map. First posted on arXiv 29 Apr 2021.

Builds on

32 of 43 references.

References · 32

  1. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  2. 2017Mask R-CNNcited by 7,259
  3. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  4. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  5. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  6. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  7. 2019MMDetection: Open MMLab Detection Toolbox and Benchmarkcited by 1,379
  8. 2017Cascade R-CNN: Delving into High Quality Object Detectioncited by 1,275
  9. 2019Objects as Pointscited by 1,172
  10. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  11. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  12. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
20 more
  1. 2020HOTA: A Higher Order Metric for Evaluating Multi-Object Trackingcited by 546
  2. 2020Tracking Objects as Pointscited by 483
  3. 2019Tracking without bells and whistlescited by 382
  4. 2020Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloudcited by 335
  5. 2019MOTS: Multi-Object Tracking and Segmentationcited by 222
  6. 2019Learning a Neural Solver for Multiple Object Trackingcited by 198
  7. 2020GNN3DMOT: Graph Neural Network for 3D Multi-Object Tracking with Multi-Feature Learningcited by 113
  8. 2016Learning by tracking: Siamese CNN for robust target associationcited by 79
  9. 2018Joint Monocular 3D Vehicle Detection and Trackingcited by 77
  10. 2019How To Train Your Deep Multi-Object Trackercited by 71
  11. 2020Probabilistic 3D Multi-Object Tracking for Autonomous Drivingcited by 64
  12. 2019Robust Multi-Modality Multi-Object Trackingcited by 56
  13. 2019Track to Reconstruct and Reconstruct to Trackcited by 49
  14. 2018Beyond Pixels: Leveraging Geometry and Shape Cues for Online Multi-Object Trackingcited by 40
  15. 2020JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Datasetcited by 39
  16. 2020Segment as Points for Efficient Online Multi-Object Tracking and Segmentationcited by 36
  17. 2018Combined Image- and World-Space Tracking in Traffic Scenescited by 29
  18. 2019FANTrack: 3D Multi-Object Tracking with Feature Association Networkcited by 28
  19. 2017Accurate Single Stage Detector Using Recurrent Rolling Convolutioncited by 27
  20. 2018End-to-end Learning of Multi-sensor 3D Tracking by Detectioncited by 25

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 7; 2022: 25; 2023: 19; 2024: 15; 2025: 9; 2026: 8.

83 papers.

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  1. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 485
  2. 2022TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformerscited by 464
  3. 2022Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Trackingcited by 345
  4. 2022Unifying Voxel-based Representation with Transformer for 3D Object Detectioncited by 202
  5. 2021SimpleTrack: Understanding and Rethinking 3D Multi-object Trackingcited by 102
  6. 20213D Siamese Voxel-to-BEV Tracker for Sparse Point Cloudscited by 54
  7. 2022CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusioncited by 50
  8. 20223D Siamese Transformer Network for Single Object Tracking on Point Cloudscited by 44
  9. 2021Prototypical Cross-Attention Networks for Multiple Object Tracking and Segmentationcited by 43
  10. 20224D-StOP: Panoptic Segmentation of 4D LiDAR using Spatio-temporal Object Proposal Generation and Aggregationcited by 35
  11. 2022DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Associationcited by 33
  12. 2022CC-3DT: Panoramic 3D Object Tracking via Cross-Camera Fusioncited by 31
38 more
  1. 2022PolarMOT: How Far Can Geometric Relations Take Us in 3D Multi-Object Tracking?cited by 29
  2. 2022Forecasting from LiDAR via Future Object Detectioncited by 28
  3. 20223D Multi-Object Tracking Using Graph Neural Networks with Cross-Edge Modality Attentioncited by 27
  4. 2022TripletTrack: 3D Object Tracking using Triplet Embeddings and LSTMcited by 26
  5. 2022A Comprehensive Review of Computer Vision in Sports: Open Issues, Future Trends and Research Directionscited by 21
  6. 2022ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Trackingcited by 21
  7. 20233DMOTFormer: Graph Transformer for Online 3D Multi-Object Trackingcited by 21
  8. 2023RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloudcited by 21
  9. 2023MotionTrack: End-to-End Transformer-based Multi-Object Tracing with LiDAR-Camera Fusioncited by 19
  10. 2023Instance Tracking in 3D Scenes from Egocentric Videoscited by 17
  11. 2022GNN-PMB: A Simple but Effective Online 3D Multi-Object Tracker without Bells and Whistlescited by 15
  12. 2021MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagationcited by 14
  13. 2023An Effective Motion-Centric Paradigm for 3D Single Object Tracking in Point Cloudscited by 14
  14. 2023Sparse Beats Dense: Rethinking Supervision in Radar-Camera Depth Completioncited by 12
  15. 2022IDD-3D: Indian Driving Dataset for 3D Unstructured Road Scenescited by 11
  16. 2022Solve the Puzzle of Instance Segmentation in Videos: A Weakly Supervised Framework with Spatio-Temporal Collaborationcited by 11
  17. 2024Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Trackingcited by 11
  18. 2022Unsupervised confidence for LiDAR depth maps and applicationscited by 10
  19. 2024MVCTrack: Boosting 3D Point Cloud Tracking via Multimodal-Guided Virtual Cuescited by 10
  20. 2022Multi-Object Tracking and Segmentation via Neural Message Passingcited by 9
  21. 2023LEGO: Learning and Graph-Optimized Modular Tracker for Online Multi-Object Tracking with Point Cloudscited by 9
  22. 2024PNAS-MOT: Multi-Modal Object Tracking with Pareto Neural Architecture Searchcited by 9
  23. 2024RobMOT: Robust 3D Multi-Object Tracking by Observational Noise and State Estimation Drift Mitigation on LiDAR PointCloudcited by 9
  24. 2022Recent Advances in Embedding Methods for Multi-Object Tracking: A Surveycited by 8
  25. 2023You Only Need Two Detectors to Achieve Multi-Modal 3D Multi-Object Trackingcited by 8
  26. 2022InterTrack: Interaction Transformer for 3D Multi-Object Trackingcited by 6
  27. 2022DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustmentcited by 6
  28. 2025PD-SORT: Occlusion-Robust Multi-Object Tracking Using Pseudo-Depth Cuescited by 6
  29. 2022Interactive Multi-scale Fusion of 2D and 3D Features for Multi-object Trackingcited by 4
  30. 2023DFR-FastMOT: Detection Failure Resistant Tracker for Fast Multi-Object Tracking Based on Sensor Fusioncited by 4
  31. 20233D Multiple Object Tracking on Autonomous Driving: A Literature Reviewcited by 4
  32. 2025Seg2Track-SAM2: SAM2-based Multi-object Tracking and Segmentationcited by 4
  33. 20233D Multi-Object Tracking Based on Uncertainty-Guided Data Associationcited by 3
  34. 2023Object Re-Identification from Point Cloudscited by 3
  35. 2024Future Does Matter: Boosting 3D Object Detection with Temporal Motion Estimation in Point Cloud Sequencescited by 3
  36. 2025UniLION: Towards Unified Autonomous Driving Model with Linear Group RNNscited by 3
  37. 2022Point Cloud Registration-Driven Robust Feature Matching for 3D Siamese Object Trackingcited by 2
  38. 2024RockTrack: A 3D Robust Multi-Camera-Ken Multi-Object Tracking Frameworkcited by 2

50 most cited of 83 All 83 (JSON)