# Boosting Online 3D Multi-Object Tracking through Camera-Radar Cross Check

arXiv: https://arxiv.org/abs/2407.13937 · HTML: https://mlsanity.com/paper/2407.13937/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 39 references that are in the map.
- First posted on arXiv 18 Jul 2024.

## Builds on (most cited first, 30 of 30)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation](https://mlsanity.com/paper/2205.13542/) (2022)
- [MovieChat: From Dense Token to Sparse Memory for Long Video Understanding](https://mlsanity.com/paper/2307.16449/) (2023)
- [TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformers](https://mlsanity.com/paper/2203.11496/) (2022)
- [Distance-IoU Loss: Faster and Better Learning for Bounding Box Regression](https://mlsanity.com/paper/1911.08287/) (2019)
- [PointPainting: Sequential Fusion for 3D Object Detection](https://mlsanity.com/paper/1911.10150/) (2019)
- [3D Packing for Self-Supervised Monocular Depth Estimation](https://mlsanity.com/paper/1905.02693/) (2019)
- [Deep Layer Aggregation](https://mlsanity.com/paper/1707.06484/) (2017)
- [Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Tracking](https://mlsanity.com/paper/2203.14360/) (2022)
- [Is Pseudo-Lidar needed for Monocular 3D Object detection?](https://mlsanity.com/paper/2108.06417/) (2021)
- [StrongSORT: Make DeepSORT Great Again](https://mlsanity.com/paper/2202.13514/) (2022)
- [EPNet: Enhancing Point Features with Image Semantics for 3D Object Detection](https://mlsanity.com/paper/2007.08856/) (2020)
- [CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection](https://mlsanity.com/paper/2009.00784/) (2020)
- [Simple-BEV: What Really Matters for Multi-Sensor BEV Perception?](https://mlsanity.com/paper/2206.07959/) (2022)
- [MeMOT: Multi-Object Tracking with Memory](https://mlsanity.com/paper/2203.16761/) (2022)
- [Benchmarking Robustness of 3D Object Detection to Common Corruptions in Autonomous Driving](https://mlsanity.com/paper/2303.11040/) (2023)
- [K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditions](https://mlsanity.com/paper/2206.08171/) (2022)
- [RADIATE: A Radar Dataset for Automotive Perception in Bad Weather](https://mlsanity.com/paper/2010.09076/) (2020)
- [TJ4DRadSet: A 4D Radar Dataset for Autonomous Driving](https://mlsanity.com/paper/2204.13483/) (2022)
- [RadarScenes: A Real-World Radar Point Cloud Data Set for Automotive Applications](https://mlsanity.com/paper/2104.02493/) (2021)
- [Benchmarking the Robustness of LiDAR-Camera Fusion for 3D Object Detection](https://mlsanity.com/paper/2205.14951/) (2022)
- [RODNet: A Real-Time Radar Object Detection Network Cross-Supervised by Camera-Radar Fused Object 3D Localization](https://mlsanity.com/paper/2102.05150/) (2021)
- [Cross-Modality Knowledge Distillation Network for Monocular 3D Object Detection](https://mlsanity.com/paper/2211.07171/) (2022)
- [CNN based Road User Detection using the 3D Radar Cube](https://mlsanity.com/paper/2004.12165/) (2020)
- [Understanding the Robustness of 3D Object Detection with Bird's-Eye-View Representations in Autonomous Driving](https://mlsanity.com/paper/2303.17297/) (2023)
- [MambaMOT: State-Space Model as Motion Predictor for Multi-Object Tracking](https://mlsanity.com/paper/2403.10826/) (2024)
- [Vision meets mmWave Radar: 3D Object Perception Benchmark for Autonomous Driving](https://mlsanity.com/paper/2311.10261/) (2023)

## Built on by (most cited first, 2 of 2)

- [Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Survey](https://mlsanity.com/paper/2410.19872/) (2024)
- [Adapting SAM 2 for Visual Object Tracking: 1st Place Solution for MMVPR Challenge Multi-Modal Tracking](https://mlsanity.com/paper/2505.18111/) (2025)

## Abstract (arXiv)

In the domain of autonomous driving, the integration of multi-modal perception techniques based on data from diverse sensors has demonstrated substantial progress. Effectively surpassing the capabilities of state-of-the-art single-modality detectors through sensor fusion remains an active challenge. This work leverages the respective advantages of cameras in perspective view and radars in Bird's Eye View (BEV) to greatly enhance overall detection and tracking performance. Our approach, Camera-Radar Associated Fusion Tracking Booster (CRAFTBooster), represents a pioneering effort to enhance radar-camera fusion in the tracking stage, contributing to improved 3D MOT accuracy. The superior experimental results on the K-Radaar dataset, which exhibit 5-6% on IDF1 tracking performance gain, validate the potential of effective sensor fusion in advancing autonomous driving.