mlsanityData to 7 Oct 2026

MCTrack: A Unified 3D Multi-Object Tracking Framework for Autonomous Driving

arXiv 2409.16149 ↗First posted 23 Sep 2024cs.CVcited by 17

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Abstract (arXiv)

This paper introduces MCTrack, a new 3D multi-object tracking method that achieves state-of-the-art (SOTA) performance across KITTI, nuScenes, and Waymo datasets. Addressing the gap in existing tracking paradigms, which often perform well on specific datasets but lack generalizability, MCTrack offers a unified solution. Additionally, we have standardized the format of perceptual results across various datasets, termed BaseVersion, facilitating researchers in the field of multi-object tracking (MOT) to concentrate on the core algorithmic development without the undue burden of data preprocessing. Finally, recognizing the limitations of current evaluation metrics, we propose a novel set that assesses motion information output, such as velocity and acceleration, crucial for downstream tasks. The source codes of the proposed method are available at this link: https://github.com/megvii-research/MCTrack}{https://github.com/megvii-research/MCTrack

Key facts. Cited by 17 papers in the map (data through 7 Oct 2026). Builds on 60 of its 76 references that are in the map. First posted on arXiv 23 Sep 2024.

Builds on

60 of 76 references.

References · 60

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  3. 2019Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regressioncited by 1,361
  4. 2017Cascade R-CNN: Delving into High Quality Object Detectioncited by 1,275
  5. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  6. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  7. 2017Simple Online and Realtime Tracking with a Deep Association Metriccited by 908
  8. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  9. 2016Performance Measures and a Data Set for Multi-Target, Multi-Camera Trackingcited by 685
  10. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 655
  11. 2019CenterNet: Keypoint Triplets for Object Detectioncited by 654
  12. 2020HOTA: A Higher Order Metric for Evaluating Multi-Object Trackingcited by 546
38 more
  1. 2016MOT16: A Benchmark for Multi-Object Trackingcited by 531
  2. 2019Distance-IoU Loss: Faster and Better Learning for Bounding Box Regressioncited by 454
  3. 2020Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detectioncited by 409
  4. 2019Tracking without bells and whistlescited by 382
  5. 2021MOTR: End-to-End Multiple-Object Tracking with Transformercited by 379
  6. 2020TransTrack: Multiple Object Tracking with Transformercited by 370
  7. 2020MOT20: A benchmark for multi object tracking in crowded scenescited by 355
  8. 2022Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Trackingcited by 345
  9. 2020Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloudcited by 335
  10. 2022BoT-SORT: Robust Associations Multi-Pedestrian Trackingcited by 313
  11. 2023VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Trackingcited by 221
  12. 2021DanceTrack: Multi-Object Tracking in Uniform Appearance and Diverse Motioncited by 213
  13. 2021Probabilistic and Geometric Depth: Detecting Objects in Perspectivecited by 190
  14. 2022Focal Sparse Convolutional Networks for 3D Object Detectioncited by 142
  15. 2023Deep OC-SORT: Multi-Pedestrian Tracking by Adaptive Re-Identificationcited by 130
  16. 2023DSVT: Dynamic Sparse Voxel Transformer with Rotated Setscited by 122
  17. 2021SimpleTrack: Understanding and Rethinking 3D Multi-object Trackingcited by 102
  18. 2021TransMOT: Spatial-Temporal Graph Transformer for Multiple Object Trackingcited by 93
  19. 2023Referring Multi-Object Trackingcited by 91
  20. 2023Virtual Sparse Convolution for Multimodal 3D Object Detectioncited by 81
  21. 2021Monocular Quasi-Dense 3D Object Trackingcited by 80
  22. 2022LargeKernel3D: Scaling up Kernels in 3D Sparse CNNscited by 71
  23. 2022MPPNet: Multi-Frame Feature Intertwining with Proxy Points for 3D Temporal Object Detectioncited by 65
  24. 2022MSMDFusion: Fusing LiDAR and Camera at Multiple Scales with Multi-Depth Seeds for 3D Object Detectioncited by 62
  25. 2023FocalFormer3D : Focusing on Hard Instance for 3D Object Detectioncited by 58
  26. 2022CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusioncited by 50
  27. 2021Immortal Tracker: Tracklet Never Diescited by 42
  28. 2022DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Associationcited by 33
  29. 2024ADA-Track++: End-to-End Multi-Camera 3D Multi-Object Tracking with Alternating Detection and Associationcited by 33
  30. 2023Poly-MOT: A Polyhedral Framework For 3D Multi-Object Trackingcited by 32
  31. 2023DetZero: Rethinking Offboard 3D Object Detection with Long-term Sequential Point Cloudscited by 31
  32. 2023iKUN: Speak to Trackers without Retrainingcited by 31
  33. 2023Once Detected, Never Lost: Surpassing Human Performance in Offline LiDAR based 3D Object Detectioncited by 28
  34. 2022TripletTrack: 3D Object Tracking using Triplet Embeddings and LSTMcited by 26
  35. 2022ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Trackingcited by 21
  36. 20233DMOTFormer: Graph Transformer for Online 3D Multi-Object Trackingcited by 21
  37. 2023ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Boxcited by 20
  38. 2022Object Permanence Emerges in a Random Walk along Memorycited by 18

50 most cited of 60 All 60 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 1; 2025: 8; 2026: 8.

17 papers.

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  1. 2025ReferGPT: Towards Zero-Shot Referring Multi-Object Trackingcited by 10
  2. 2024UrbanGS: Semantic-Guided Gaussian Splatting for Urban Scene Reconstructioncited by 7
  3. 2025HybridTrack: A Hybrid Approach for Robust Multi-Object Trackingcited by 3
  4. 2025Bayesian Multiobject Tracking With Neural-Enhanced Motion and Measurement Modelscited by 3
  5. 2025IMM-MOT: A Novel 3D Multi-object Tracking Framework with Interacting Multiple Model Filtercited by 2
  6. 2025LiDAR MOT-DETR: A LiDAR-based Two-Stage Transformer for 3D Multiple Object Trackingcited by 2
  7. 2025From Static to Dynamic: a Survey of Topology-Aware Perception in Autonomous Drivingcited by 2
  8. 2026Offline-Poly: A Polyhedral Framework For Offline 3D Multi-Object Trackingcited by 2
  9. 2025OptiPMB: Enhancing 3D Multi-Object Tracking with Optimized Poisson Multi-Bernoulli Filteringcited by 1
  10. 2026Fusion-Poly: A Polyhedral Framework Based on Spatial-Temporal Fusion for 3D Multi-Object Trackingcited by 1
  11. 2026Radar-Informed 3D Multi-Object Tracking under Adverse Conditionscited by 1
  12. 2026Polycepta: Object-Centric Appearance Estimation for Multi-Object Trackingcited by 1
5 more
  1. 2026RESOLVE: A Multi-Resolution and Multi-Modal Dataset for Roadside Cooperative Perceptioncited by 1
  2. 2025FutrTrack: A Camera-LiDAR Fusion Transformer for 3D Multiple Object Trackingcited by 0
  3. 2026NOVA: Next-step Open-Vocabulary Autoregression for 3D Multi-Object Tracking in Autonomous Drivingcited by 0
  4. 2026MotionSync: Non-Causal Refinement of Causal Tracker for Label-Efficient 3D Perceptioncited by 0
  5. 2026Do Spinning Radar Doppler Velocity Measurements Improve Vehicle Detection and Tracking?cited by 0