mlsanityData to 7 Oct 2026

Exploring Simple 3D Multi-Object Tracking for Autonomous Driving

arXiv 2108.10312 ↗First posted 23 Aug 2021cs.CVcited by 56

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Abstract (arXiv)

3D multi-object tracking in LiDAR point clouds is a key ingredient for self-driving vehicles. Existing methods are predominantly based on the tracking-by-detection pipeline and inevitably require a heuristic matching step for the detection association. In this paper, we present SimTrack to simplify the hand-crafted tracking paradigm by proposing an end-to-end trainable model for joint detection and tracking from raw point clouds. Our key design is to predict the first-appear location of each object in a given snippet to get the tracking identity and then update the location based on motion estimation. In the inference, the heuristic matching step can be completely waived by a simple read-off operation. SimTrack integrates the tracked object association, newborn object detection, and dead track killing in a single unified model. We conduct extensive evaluations on two large-scale datasets: nuScenes and Waymo Open Dataset. Experimental results reveal that our simple approach compares favorably with the state-of-the-art methods while ruling out the heuristic matching rules.

Key facts. Cited by 56 papers in the map (data through 7 Oct 2026). Builds on 32 of its 38 references that are in the map. First posted on arXiv 23 Aug 2021.

Builds on

32 of 38 references.

References · 32

  1. 2017Attention Is All You Needcited by 59,932
  2. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,160
  3. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  4. 2020End-to-End Object Detection with Transformerscited by 7,384
  5. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  6. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  7. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  8. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  9. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  10. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  11. 2016Simple Online and Realtime Trackingcited by 862
  12. 2017Focal Loss for Dense Object Detectioncited by 749
20 more
  1. 2021TrackFormer: Multi-Object Tracking with Transformerscited by 515
  2. 2020FairMOT: On the Fairness of Detection and Re-Identification in Multiple Object Trackingcited by 489
  3. 2020Tracking Objects as Pointscited by 483
  4. 2019Tracking without bells and whistlescited by 382
  5. 2020TransTrack: Multiple Object Tracking with Transformercited by 370
  6. 2019Class-balanced Grouping and Sampling for Point Cloud 3D Object Detectioncited by 350
  7. 2020Fast and Furious: Real Time End-to-End 3D Detection, Tracking and Motion Forecasting with a Single Convolutional Netcited by 228
  8. 2019Joint Discriminative and Generative Learning for Person Re-identificationcited by 211
  9. 2019End-to-End Multi-View Fusion for 3D Object Detection in LiDAR Point Cloudscited by 171
  10. 2020PnPNet: End-to-End Perception and Prediction with Tracking in the Loopcited by 143
  11. 2017Detect to Track and Track to Detectcited by 131
  12. 2020Chained-Tracker: Chaining Paired Attentive Regression Results for End-to-End Joint Multiple-Object Detection and Trackingcited by 115
  13. 2020MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Mapscited by 100
  14. 2020Joint Disentangling and Adaptation for Cross-Domain Person Re-Identificationcited by 83
  15. 2020Instance-aware, Context-focused, and Memory-efficient Weakly Supervised Object Detectioncited by 80
  16. 2020Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Drivingcited by 73
  17. 2020RetinaTrack: Online Single Stage Joint Detection and Trackingcited by 67
  18. 2020Probabilistic 3D Multi-Object Tracking for Autonomous Drivingcited by 64
  19. 2021Self-Supervised Pillar Motion Learning for Autonomous Drivingcited by 44
  20. 2020UFO2: A Unified Framework towards Omni-supervised Object Detectioncited by 26

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 12; 2023: 17; 2024: 13; 2025: 11; 2026: 3.

56 papers.

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  1. 2022MPPNet: Multi-Frame Feature Intertwining with Proxy Points for 3D Temporal Object Detectioncited by 65
  2. 2022Beyond 3D Siamese Tracking: A Motion-Centric Paradigm for 3D Single Object Tracking in Point Cloudscited by 55
  3. 2023PillarNeXt: Rethinking Network Designs for 3D Object Detection in LiDAR Point Cloudscited by 54
  4. 2023ProphNet: Efficient Agent-Centric Motion Forecasting with Anchor-Informed Proposalscited by 47
  5. 2023DistillBEV: Boosting Multi-Camera 3D Object Detection with Cross-Modal Knowledge Distillationcited by 41
  6. 2022CC-3DT: Panoramic 3D Object Tracking via Cross-Camera Fusioncited by 31
  7. 2023Once Detected, Never Lost: Surpassing Human Performance in Offline LiDAR based 3D Object Detectioncited by 28
  8. 2023Collaborative Multi-Object Tracking with Conformal Uncertainty Propagationcited by 27
  9. 2023GEDepth: Ground Embedding for Monocular Depth Estimationcited by 26
  10. 2023MotionTrack: End-to-End Transformer-based Multi-Object Tracing with LiDAR-Camera Fusioncited by 19
  11. 2022GNN-PMB: A Simple but Effective Online 3D Multi-Object Tracker without Bells and Whistlescited by 15
  12. 2023An Effective Motion-Centric Paradigm for 3D Single Object Tracking in Point Cloudscited by 14
38 more
  1. 20234D-Former: Multimodal 4D Panoptic Segmentationcited by 12
  2. 2023Delving into Motion-Aware Matching for Monocular 3D Object Trackingcited by 11
  3. 2022Minkowski Tracker: A Sparse Spatio-Temporal R-CNN for Joint Object Detection and Trackingcited by 9
  4. 2023Transcendental Idealism of Planner: Evaluating Perception from Planning Perspective for Autonomous Drivingcited by 9
  5. 2023LEGO: Learning and Graph-Optimized Modular Tracker for Online Multi-Object Tracking with Point Cloudscited by 9
  6. 2024CR3DT: Camera-RADAR Fusion for 3D Detection and Trackingcited by 9
  7. 2025ReasoningTrack: Chain-of-Thought Reasoning for Long-term Vision-Language Trackingcited by 9
  8. 2022Recent Advances in Embedding Methods for Multi-Object Tracking: A Surveycited by 8
  9. 2022QML for Argoverse 2 Motion Forecasting Challengecited by 7
  10. 2022InterTrack: Interaction Transformer for 3D Multi-Object Trackingcited by 6
  11. 20223DMODT: Attention-Guided Affinities for Joint Detection & Tracking in 3D Point Cloudscited by 6
  12. 2025PD-SORT: Occlusion-Robust Multi-Object Tracking Using Pseudo-Depth Cuescited by 6
  13. 2025Fully Spiking Neural Networks for Unified Frame-Event Object Trackingcited by 6
  14. 2022Learning Moving-Object Tracking with FMCW LiDARcited by 5
  15. 20233D Multiple Object Tracking on Autonomous Driving: A Literature Reviewcited by 4
  16. 2023TrafficMOT: A Challenging Dataset for Multi-Object Tracking in Complex Traffic Scenarioscited by 4
  17. 2024Engineering an Efficient Object Tracker for Non-Linear Motioncited by 4
  18. 2024JDT3D: Addressing the Gaps in LiDAR-Based Tracking-by-Attentioncited by 4
  19. 20243D Single-object Tracking in Point Clouds with High Temporal Variationcited by 4
  20. 2022PV-RCNN++: Semantical Point-Voxel Feature Interaction for 3D Object Detectioncited by 3
  21. 2023Frame Fusion with Vehicle Motion Prediction for 3D Object Detectioncited by 3
  22. 2024VideoSAM: Open-World Video Segmentationcited by 3
  23. 2025NOOUGAT: Towards Unified Online and Offline Multi-Object Trackingcited by 3
  24. 2023BEVTrack: A Simple and Strong Baseline for 3D Single Object Tracking in Bird's-Eye Viewcited by 2
  25. 2024Tell Me What to Track: Infusing Robust Language Guidance for Enhanced Referring Multi-Object Trackingcited by 2
  26. 2025Learning better representations for crowded pedestrians in offboard LiDAR-camera 3D tracking-by-detectioncited by 2
  27. 2022TL-GAN: Improving Traffic Light Recognition via Data Synthesis for Autonomous Drivingcited by 1
  28. 2023BOTT: Box Only Transformer Tracker for 3D Object Trackingcited by 1
  29. 2024Enhancing Tracking Robustness with Auxiliary Adversarial Defense Networkscited by 1
  30. 2024Multi-Object Tracking with Camera-LiDAR Fusion for Autonomous Drivingcited by 1
  31. 2024Robust Visual Tracking via Iterative Gradient Descent and Threshold Selectioncited by 1
  32. 2024Temporal Correlation Meets Embedding: Towards a 2nd Generation of JDE-based Real-Time Multi-Object Trackingcited by 1
  33. 2024SiamMo: Siamese Motion-Centric 3D Object Trackingcited by 1
  34. 2024Heterogeneous Graph Transformer for Multiple Tiny Object Tracking in RGB-T Videoscited by 1
  35. 2025OptiPMB: Enhancing 3D Multi-Object Tracking with Optimized Poisson Multi-Bernoulli Filteringcited by 1
  36. 2025To New Beginnings: A Survey of Unified Perception in Autonomous Vehicle Softwarecited by 1
  37. 2026TETO: Tracking Events with Teacher Observation for Motion Estimation and Frame Interpolationcited by 1
  38. 2024Leveraging Object Priors for Point Trackingcited by 0

50 most cited of 56 All 56 (JSON)

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  1. 2021Joint Multi-Object Detection and Tracking with Camera-LiDAR Fusion for Autonomous Driving
  2. 2025GRASPTrack: Geometry-Reasoned Association via Segmentation and Projection for Multi-Object Tracking
  3. 2023ShaSTA-Fuse: Camera-LiDAR Sensor Fusion to Model Shape and Spatio-Temporal Affinities for 3D Multi-Object Tracking
  4. 2025MambaTrack3D: A State Space Model Framework for LiDAR-Based Object Tracking under High Temporal Variation
  5. 2024RegTrack: Simplicity Beneath Complexity in Robust Multi-Modal 3D Multi-Object Tracking
  6. 2022ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Tracking
  7. 20233DifFusionDet: Diffusion Model for 3D Object Detection with Robust LiDAR-Camera Fusion
  8. 2021LiDAR Cluster First and Camera Inference Later: A New Perspective Towards Autonomous Driving