mlsanityData to 14 Oct 2026

Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking

arXiv 2403.13443 ↗First posted 20 Mar 2024cs.CV cs.ROcited by 11

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Abstract (arXiv)

3D Multi-Object Tracking (MOT) captures stable and comprehensive motion states of surrounding obstacles, essential for robotic perception. However, current 3D trackers face issues with accuracy and latency consistency. In this paper, we propose Fast-Poly, a fast and effective filter-based method for 3D MOT. Building upon our previous work Poly-MOT, Fast-Poly addresses object rotational anisotropy in 3D space, enhances local computation densification, and leverages parallelization technique, improving inference speed and precision. Fast-Poly is extensively tested on two large-scale tracking benchmarks with Python implementation. On the nuScenes dataset, Fast-Poly achieves new state-of-the-art performance with 75.8% AMOTA among all methods and can run at 34.2 FPS on a personal CPU. On the Waymo dataset, Fast-Poly exhibits competitive accuracy with 63.6% MOTA and impressive inference speed (35.5 FPS). The source code is publicly available at https://github.com/lixiaoyu2000/FastPoly.

Key facts. Cited by 11 papers in the map (data through 14 Oct 2026). Builds on 32 of its 43 references that are in the map. First posted on arXiv 20 Mar 2024.

Builds on

32 of 43 references.

References · 32

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  3. 2019Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regressioncited by 1,368
  4. 2017Cascade R-CNN: Delving into High Quality Object Detectioncited by 1,276
  5. 2020Center-based 3D Object Detection and Trackingcited by 1,144
  6. 2021LoFTR: Detector-Free Local Feature Matching with Transformerscited by 984
  7. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 891
  8. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 850
  9. 2021ByteTrack: Multi-Object Tracking by Associating Every Detection Boxcited by 823
  10. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 713
  11. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 658
  12. 2020HOTA: A Higher Order Metric for Evaluating Multi-Object Trackingcited by 552
20 more
  1. 2020Tracking Objects as Pointscited by 483
  2. 2022TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformerscited by 466
  3. 2022Focal Sparse Convolutional Networks for 3D Object Detectioncited by 142
  4. 2021SimpleTrack: Understanding and Rethinking 3D Multi-object Trackingcited by 103
  5. 2022MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queriescited by 91
  6. 2021EagerMOT: 3D Multi-Object Tracking via Sensor Fusioncited by 83
  7. 2020Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Drivingcited by 73
  8. 2019Robust Multi-Modality Multi-Object Trackingcited by 56
  9. 2023Standing Between Past and Future: Spatio-Temporal Modeling for Multi-Camera 3D Multi-Object Trackingcited by 54
  10. 2022CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusioncited by 50
  11. 2021Learnable Online Graph Representations for 3D Multi-Object Trackingcited by 38
  12. 2022DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Associationcited by 33
  13. 2021Score refinement for confidence-based 3D multi-object trackingcited by 32
  14. 2023Poly-MOT: A Polyhedral Framework For 3D Multi-Object Trackingcited by 32
  15. 2022CC-3DT: Panoramic 3D Object Tracking via Cross-Camera Fusioncited by 31
  16. 2021Joint Multi-Object Detection and Tracking with Camera-LiDAR Fusion for Autonomous Drivingcited by 26
  17. 2022ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Trackingcited by 21
  18. 20233DMOTFormer: Graph Transformer for Online 3D Multi-Object Trackingcited by 21
  19. 2023ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Boxcited by 20
  20. 2022Minkowski Tracker: A Sparse Spatio-Temporal R-CNN for Joint Object Detection and Trackingcited by 9

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 4; 2025: 6; 2026: 1.

11 papers.

  1. 2024MCTrack: A Unified 3D Multi-Object Tracking Framework for Autonomous Drivingcited by 17
  2. 2025HybridTrack: A Hybrid Approach for Robust Multi-Object Trackingcited by 3
  3. 2025ReaMOT: A Benchmark and Framework for Reasoning-based Multi-Object Trackingcited by 3
  4. 2024RockTrack: A 3D Robust Multi-Camera-Ken Multi-Object Tracking Frameworkcited by 2
  5. 2025LiDAR MOT-DETR: A LiDAR-based Two-Stage Transformer for 3D Multiple Object Trackingcited by 2
  6. 2024Convolutional Unscented Kalman Filter for Multi-Object Tracking with Outlierscited by 1
  7. 2025Easy-Poly: An Easy Polyhedral Framework For 3D Multi-Object Trackingcited by 1
  8. 2026Radar-Informed 3D Multi-Object Tracking under Adverse Conditionscited by 1
  9. 2024RegTrack: Simplicity Beneath Complexity in Robust Multi-Modal 3D Multi-Object Trackingcited by 0
  10. 2025Optimizing Indoor Farm Monitoring Efficiency Using UAV: Yield Estimation in a GNSS-Denied Cherry Tomato Greenhousecited by 0
  11. 2025FutrTrack: A Camera-LiDAR Fusion Transformer for 3D Multiple Object Trackingcited by 0