# 3D Multi-Object Tracking Employing MS-GLMB Filter for Autonomous Driving

arXiv: https://arxiv.org/abs/2410.14977 · HTML: https://mlsanity.com/paper/2410.14977/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 31 references that are in the map.
- First posted on arXiv 19 Oct 2024.

## Builds on (most cited first, 21 of 21)

- [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)
- [Tracking Objects as Points](https://mlsanity.com/paper/2004.01177/) (2020)
- [Class-balanced Grouping and Sampling for Point Cloud 3D Object Detection](https://mlsanity.com/paper/1908.09492/) (2019)
- [Learning to Track with Object Permanence](https://mlsanity.com/paper/2103.14258/) (2021)
- [MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queries](https://mlsanity.com/paper/2205.00613/) (2022)
- [EagerMOT: 3D Multi-Object Tracking via Sensor Fusion](https://mlsanity.com/paper/2104.14682/) (2021)
- [Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Driving](https://mlsanity.com/paper/2012.13755/) (2020)
- [Multiview Detection with Feature Perspective Transformation](https://mlsanity.com/paper/2007.07247/) (2020)
- [Probabilistic 3D Multi-Object Tracking for Autonomous Driving](https://mlsanity.com/paper/2001.05673/) (2020)
- [Standing Between Past and Future: Spatio-Temporal Modeling for Multi-Camera 3D Multi-Object Tracking](https://mlsanity.com/paper/2302.03802/) (2023)
- [Deep Occlusion Reasoning for Multi-Camera Multi-Target Detection](https://mlsanity.com/paper/1704.05775/) (2017)
- [Unleashing HyDRa: Hybrid Fusion, Depth Consistency and Radar for Unified 3D Perception](https://mlsanity.com/paper/2403.07746/) (2024)
- [LMGP: Lifted Multicut Meets Geometry Projections for Multi-Camera Multi-Object Tracking](https://mlsanity.com/paper/2111.11892/) (2021)
- [EarlyBird: Early-Fusion for Multi-View Tracking in the Bird's Eye View](https://mlsanity.com/paper/2310.13350/) (2023)
- [ReST: A Reconfigurable Spatial-Temporal Graph Model for Multi-Camera Multi-Object Tracking](https://mlsanity.com/paper/2308.13229/) (2023)
- [3D Random Occlusion and Multi-Layer Projection for Deep Multi-Camera Pedestrian Localization](https://mlsanity.com/paper/2207.10895/) (2022)
- [Visual Multi-Object Tracking with Re-Identification and Occlusion Handling using Labeled Random Finite Sets](https://mlsanity.com/paper/2407.08872/) (2024)
- [Track Initialization and Re-Identification for~3D Multi-View Multi-Object Tracking](https://mlsanity.com/paper/2405.18606/) (2024)
- [Online Visual Multi-Object Tracking via Labeled Random Finite Set Filtering](https://mlsanity.com/paper/1611.06011/) (2016)
- [Adaptive Confidence Threshold for ByteTrack in Multi-Object Tracking](https://mlsanity.com/paper/2312.01650/) (2023)

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

- [3D Ground Truth Reconstruction from Multi-Camera Annotations Using UKF](https://mlsanity.com/paper/2511.17609/) (2025)
- [Beyond the Survey: A Systematic Empirical Study of Detection and Association in Visual MOT](https://mlsanity.com/paper/2609.22291/) (2026)

## Abstract (arXiv)

The MS-GLMB filter offers a robust framework for tracking multiple objects through the use of multi-sensor data. Building on this, the MV-GLMB and MV-GLMB-AB filters enhance the MS-GLMB capabilities by employing cameras for 3D multi-sensor multi-object tracking, effectively addressing occlusions. However, both filters depend on overlapping fields of view from the cameras to combine complementary information. In this paper, we introduce an improved approach that integrates an additional sensor, such as LiDAR, into the MS-GLMB framework for 3D multi-object tracking. Specifically, we present a new LiDAR measurement model, along with a multi-camera and LiDAR multi-object measurement model. Our experimental results demonstrate a significant improvement in tracking performance compared to existing MS-GLMB-based methods. Importantly, our method eliminates the need for overlapping fields of view, broadening the applicability of the MS-GLMB filter. Our source code for nuScenes dataset is available at https://github.com/linh-gist/ms-glmb-nuScenes.