mlsanityData to 7 Oct 2026

Joint Multi-Object Detection and Tracking with Camera-LiDAR Fusion for Autonomous Driving

arXiv 2108.04602 ↗First posted 10 Aug 2021cs.CVcited by 26

Not on the map. Why?

Abstract (arXiv)

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint detection and tracking schemes and robust data association for autonomous driving applications. The novelty of this work includes: (1) development of an end-to-end deep neural network for joint object detection and correlation using 2D and 3D measurements; (2) development of a robust affinity computation module to compute occlusion-aware appearance and motion affinities in 3D space; (3) development of a comprehensive data association module for joint optimization among detection confidences, affinities and start-end probabilities. The experiment results on the KITTI tracking benchmark demonstrate the superior performance of the proposed method in terms of both tracking accuracy and processing speed.

Key facts. Cited by 26 papers in the map (data through 7 Oct 2026). Builds on 13 of its 26 references that are in the map. First posted on arXiv 10 Aug 2021.

Builds on

13 of 26 references.

References · 13

  1. 2016SGDR: Stochastic Gradient Descent with Warm Restartscited by 4,993
  2. 2017Simple Online and Realtime Tracking with a Deep Association Metriccited by 908
  3. 2017Frustum PointNets for 3D Object Detection from RGB-D Datacited by 640
  4. 2020Tracking Objects as Pointscited by 483
  5. 2019Distance-IoU Loss: Faster and Better Learning for Bounding Box Regressioncited by 454
  6. 2019Towards Real-Time Multi-Object Trackingcited by 311
  7. 2020EPNet: Enhancing Point Features with Image Semantics for 3D Object Detectioncited by 164
  8. 2020Chained-Tracker: Chaining Paired Attentive Regression Results for End-to-End Joint Multiple-Object Detection and Trackingcited by 115
  9. 2020RetinaTrack: Online Single Stage Joint Detection and Trackingcited by 67
  10. 2019Robust Multi-Modality Multi-Object Trackingcited by 56
  11. 2020JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Datasetcited by 39
  12. 2018Mono-Camera 3D Multi-Object Tracking Using Deep Learning Detections and PMBM Filteringcited by 32
1 more
  1. 2018End-to-end Learning of Multi-sensor 3D Tracking by Detectioncited by 25

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 7; 2023: 6; 2024: 7; 2025: 4; 2026: 2.

26 papers.

Sort:

By area:

  1. 2022CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusioncited by 50
  2. 2022DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Associationcited by 33
  3. 2022TripletTrack: 3D Object Tracking using Triplet Embeddings and LSTMcited by 26
  4. 2023MotionTrack: End-to-End Transformer-based Multi-Object Tracing with LiDAR-Camera Fusioncited by 19
  5. 2022Transformers for Multi-Object Tracking on Point Cloudscited by 14
  6. 2024Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Trackingcited by 11
  7. 2023LEGO: Learning and Graph-Optimized Modular Tracker for Online Multi-Object Tracking with Point Cloudscited by 9
  8. 2022Recent Advances in Embedding Methods for Multi-Object Tracking: A Surveycited by 8
  9. 2023You Only Need Two Detectors to Achieve Multi-Modal 3D Multi-Object Trackingcited by 8
  10. 20223DMODT: Attention-Guided Affinities for Joint Detection & Tracking in 3D Point Cloudscited by 6
  11. 2024BiTrack: Bidirectional Offline 3D Multi-Object Tracking Using Camera-LiDAR Datacited by 6
  12. 20233D Multiple Object Tracking on Autonomous Driving: A Literature Reviewcited by 4
14 more
  1. 20233D Multi-Object Tracking Based on Uncertainty-Guided Data Associationcited by 3
  2. 2023Benchmarking Robustness of AI-Enabled Multi-sensor Fusion Systems: Challenges and Opportunitiescited by 3
  3. 2024InScope: A New Real-world 3D Infrastructure-side Collaborative Perception Dataset for Open Traffic Scenarioscited by 2
  4. 2024CrossTracker: Robust Multi-modal 3D Multi-Object Tracking via Cross Correctioncited by 2
  5. 2025IMM-MOT: A Novel 3D Multi-object Tracking Framework with Interacting Multiple Model Filtercited by 2
  6. 2026Offline-Poly: A Polyhedral Framework For Offline 3D Multi-Object Trackingcited by 2
  7. 2024Inverse Neural Rendering for Explainable Multi-Object Trackingcited by 1
  8. 2025Bayesian Approximation-Based Trajectory Prediction and Tracking with 4D Radarcited by 1
  9. 2025OptiPMB: Enhancing 3D Multi-Object Tracking with Optimized Poisson Multi-Bernoulli Filteringcited by 1
  10. 2025To New Beginnings: A Survey of Unified Perception in Autonomous Vehicle Softwarecited by 1
  11. 2026Polycepta: Object-Centric Appearance Estimation for Multi-Object Trackingcited by 1
  12. 2022ImLiDAR: Cross-Sensor Dynamic Message Propagation Network for 3D Object Detectioncited by 0
  13. 2024TeFF: Tracking-enhanced Forgetting-free Few-shot 3D LiDAR Semantic Segmentationcited by 0
  14. 2024RegTrack: Simplicity Beneath Complexity in Robust Multi-Modal 3D Multi-Object Trackingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2023ShaSTA-Fuse: Camera-LiDAR Sensor Fusion to Model Shape and Spatio-Temporal Affinities for 3D Multi-Object Tracking
  2. 2021Exploring Simple 3D Multi-Object Tracking for Autonomous Driving
  3. 2021LiDAR Cluster First and Camera Inference Later: A New Perspective Towards Autonomous Driving
  4. 2022ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Tracking
  5. 2025DM3T: Harmonizing Modalities via Diffusion for Multi-Object Tracking
  6. 20233DifFusionDet: Diffusion Model for 3D Object Detection with Robust LiDAR-Camera Fusion
  7. 2022MSF3DDETR: Multi-Sensor Fusion 3D Detection Transformer for Autonomous Driving
  8. 2022Time3D: End-to-End Joint Monocular 3D Object Detection and Tracking for Autonomous Driving