# MCBLT: Multi-Camera Multi-Object 3D Tracking in Long Videos

arXiv: https://arxiv.org/abs/2412.00692 · HTML: https://mlsanity.com/paper/2412.00692/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 24 of its 49 references that are in the map.
- First posted on arXiv 1 Dec 2024.

## Builds on (most cited first, 24 of 24)

- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Objects as Points](https://mlsanity.com/paper/1904.07850/) (2019)
- [HOTA: A Higher Order Metric for Evaluating Multi-Object Tracking](https://mlsanity.com/paper/2009.07736/) (2020)
- [The Open Images Dataset V4: Unified image classification, object detection, and visual relationship detection at scale](https://mlsanity.com/paper/1811.00982/) (2018)
- [MOT16: A Benchmark for Multi-Object Tracking](https://mlsanity.com/paper/1603.00831/) (2016)
- [FairMOT: On the Fairness of Detection and Re-Identification in Multiple Object Tracking](https://mlsanity.com/paper/2004.01888/) (2020)
- [Towards Real-Time Multi-Object Tracking](https://mlsanity.com/paper/1909.12605/) (2019)
- [BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervision](https://mlsanity.com/paper/2211.10439/) (2022)
- [Learning a Neural Solver for Multiple Object Tracking](https://mlsanity.com/paper/1912.07515/) (2019)
- [Understanding The Robustness in Vision Transformers](https://mlsanity.com/paper/2204.12451/) (2022)
- [Beyond Appearance: a Semantic Controllable Self-Supervised Learning Framework for Human-Centric Visual Tasks](https://mlsanity.com/paper/2303.17602/) (2023)
- [Unifying Short and Long-Term Tracking with Graph Hierarchies](https://mlsanity.com/paper/2212.03038/) (2022)
- [Multiview Detection with Shadow Transformer (and View-Coherent Data Augmentation)](https://mlsanity.com/paper/2108.05888/) (2021)
- [Deep Occlusion Reasoning for Multi-Camera Multi-Target Detection](https://mlsanity.com/paper/1704.05775/) (2017)
- [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)
- [Real-time 3D Deep Multi-Camera Tracking](https://mlsanity.com/paper/2003.11753/) (2020)
- [The 8th AI City Challenge](https://mlsanity.com/paper/2404.09432/) (2024)
- [Multi-Target Multi-Camera Tracking of Vehicles using Metadata-Aided Re-ID and Trajectory-Based Camera Link Model](https://mlsanity.com/paper/2105.01213/) (2021)
- [Traffic-Aware Multi-Camera Tracking of Vehicles Based on ReID and Camera Link Model](https://mlsanity.com/paper/2008.09785/) (2020)

## Built on by (most cited first, 9 of 9)

- [A Unified 3D Object Perception Framework for Real-Time Outside-In Multi-Camera Systems](https://mlsanity.com/paper/2601.10819/) (2026)
- [ATLASFusion: Aggregation Tracking with Location-Aware Sparse Fusion for Robust Spatio-Temporal Multi-View Pedestrian Tracking](https://mlsanity.com/paper/2509.08421/) (2025)
- [Multi Camera Connected Vision System with Multi View Analytics: A Comprehensive Survey](https://mlsanity.com/paper/2510.09731/) (2025)
- [ModTrack: Sensor-Agnostic Multi-View Tracking via Identity-Informed PHD Filtering with Covariance Propagation](https://mlsanity.com/paper/2603.15812/) (2026)
- [Multi-view Crowd Tracking Transformer with View-Ground Interactions Under Large Real-World Scenes](https://mlsanity.com/paper/2604.19318/) (2026)
- [Advancing Reliable Synthetic Video Detection: Insights from the SAFE Challenge](https://mlsanity.com/paper/2605.06912/) (2026)
- [Syn2RealTrack: Bridging the Gap Between Synthetic and Real-World Datasets for Online Multi-View Multi-Target Tracking](https://mlsanity.com/paper/2608.24130/) (2026)
- [Online Multi-Camera 3D Tracking via ID Prediction over Recurrent Sparse Queries](https://mlsanity.com/paper/2609.18363/) (2026)
- [Physical AI Smart Spaces: A Large-Scale Benchmark for Multi-Camera 3D Perception in Smart Spaces](https://mlsanity.com/paper/2610.02580/) (2026)

## Abstract (arXiv)

Object perception from multi-view cameras is crucial for intelligent systems, particularly in indoor environments, e.g., warehouses, retail stores, and hospitals. Most traditional multi-target multi-camera (MTMC) detection and tracking methods rely on 2D object detection, single-view multi-object tracking (MOT), and cross-view re-identification (ReID) techniques, without properly handling important 3D information by multi-view image aggregation. In this paper, we propose a 3D object detection and tracking framework, named MCBLT, which first aggregates multi-view images with necessary camera calibration parameters to obtain 3D object detections in bird's-eye view (BEV). Then, we introduce hierarchical graph neural networks (GNNs) to track these 3D detections in BEV for MTMC tracking results. Unlike existing methods, MCBLT has impressive generalizability across different scenes and diverse camera settings, with exceptional capability for long-term association handling. As a result, our proposed MCBLT establishes a new state-of-the-art on the AICity'24 dataset with 81.22 HOTA, and on the WildTrack dataset with 95.6 IDF1.