Multi-Object Tracking on KITTI (test)
92.27MOTARobMOT (w/ Polycepta)
Evaluation results
| Method | Links | ||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RobMOT (w/ Polycepta)Input=2D + 3D, Paradigm=Fusion-based2026.06 | 92.27 | — | — | — | — | — | 82.05 | 80.16 | 84.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 823 | 73 | |
| CasTrackDetector=CasA [65], Mode=offline2024.09 | 91.91 | 86.08 | — | — | 24 | 107 | 81 | — | 84.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | 32,859 | 1,533 | 1,227 | — | |
| RobMOT (w/ Polycepta)Input=2D + 3D, Paradigm=Fusion-based, Detector=CasA 3D [30]2026.06 | 91.8 | — | — | — | — | — | 81.35 | 78.95 | 84.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1,127 | 76 | |
| MCTrackDetector=VirConv [66], Mode=offline2024.09 | 91.62 | 86.82 | — | — | 12 | 59 | 82.56 | — | 86.64 | — | — | — | — | — | — | — | — | — | — | — | — | — | 32,064 | 2,328 | 542 | — | |
| RAMDetector=CenterNet [20], Mode=online2024.09 | 91.61 | 85.79 | — | — | 210 | 158 | 79.53 | — | 80.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | 32,298 | 2,094 | 583 | — | |
| Rethink MOTDetector=PointRCNN [46], Mode=offline2024.09 | 91.53 | 85.58 | — | — | 46 | 134 | 80.39 | — | 83.64 | — | — | — | — | — | — | — | — | — | — | — | — | — | 33,094 | 1,298 | 1,569 | — | |
| BiTrackDetector=VirConv [66], Mode=offline2024.09 | 91.52 | 87.55 | — | — | 20 | 270 | 82.39 | — | 85.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | 32,445 | 1,947 | 948 | — | |
| RobMOT (w/ Polycepta)Input=3D, Paradigm=3D-based, Detector=CasA 3D [30]2026.06 | 90.84 | — | — | — | — | — | 81.28 | 77.75 | 85.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1,543 | 5 | |
| LEGODetector=VirConv [66], Mode=online2024.09 | 90.61 | 86.66 | — | — | 214 | 109 | 80.75 | — | 83.27 | — | — | — | — | — | — | — | — | — | — | — | — | — | 32,823 | 1,569 | 1,445 | — | |
| RobMOTKF Version=Dynamic2025.05 | 90.55 | — | — | — | 6 | — | 81.29 | — | 85.85 | — | — | 89.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RobMOTKF Version=Baseline2025.05 | 90.48 | — | — | — | 6 | — | 81.22 | — | 85.77 | — | — | 89.68 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CAMO-MOTDetector=PointGNN [47], Mode=online2024.09 | 90.38 | 85 | — | — | 23 | — | 79.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2,322 | 962 | — | |
| OC-SORTDetector=CenterNet [20], Mode=online2024.09 | 90.28 | 85.53 | — | — | 250 | 280 | 76.54 | — | 76.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | 31,707 | 2,685 | 407 | — | |
| VirConvTrackDetector=VirConv [66], Mode=offline2024.09 | 90.24 | 86.82 | — | — | 8 | 77 | 81.87 | — | 86.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | 31,744 | 2,648 | 702 | — | |
| RobMOTInput=3D, Paradigm=3D-based, Detector=CasA 3D [30]2026.06 | 89.83 | — | — | — | — | — | 80.83 | 76.99 | 85.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1,544 | 6 | |
| MCTrackDetector=VirConv [66], Mode=online2024.09 | 89.82 | 86.71 | — | — | 64 | 438 | 80.78 | — | 84.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 32,207 | 2,185 | 1,252 | — | |
| PNAS-MOTMode=online2024.09 | 89.59 | 85.44 | — | — | 751 | 276 | 67.32 | — | 58.99 | — | — | — | — | — | — | — | — | — | — | — | — | — | 32,131 | 2,261 | 568 | — | |
| PNAS-MOTInput=2D+3D, Paradigm=Fusion-based2026.06 | 89.59 | — | — | — | — | — | 67.32 | 77.69 | 58.99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2,261 | 751 | |
| VirConvTrack+2025.05 | 89.1 | — | — | — | 201 | — | 79.9 | — | 82.6 | — | — | 85.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PC3TMOTInput=3D, Paradigm=3D-based2026.06 | 88.81 | — | — | — | — | — | 77.8 | 74.57 | 81.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2,810 | 225 | |
| PC3T2025.05 | 88.8 | — | — | — | 225 | — | 77.8 | — | 81.6 | — | — | 84.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mono-3D-KF2025.05 | 88.5 | — | — | — | 162 | — | 75.5 | — | 77.6 | — | — | 80.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MMF-JDTInput=2D+3D, Paradigm=Fusion-based, Detector=CasA 3D [30]2026.06 | 88.06 | — | — | — | — | — | 79.52 | 75.83 | 84.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1,751 | 37 | |
| MSA-MOT2025.05 | 88 | — | — | — | 91 | — | 78.5 | — | 82.6 | — | — | 85.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UG3DMOTDetector=CasA [65], Mode=online2024.09 | 87.98 | 86.56 | — | — | 30 | 360 | 78.6 | — | 82.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | 31,399 | 2,993 | 1,111 | — | |
| UG3DMOT2025.05 | 87.98 | — | — | — | 30 | — | 78.6 | — | 82.28 | — | — | 85.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UG3DMOTInput=3D, Paradigm=3D-based2026.06 | 87.98 | — | — | — | — | — | 78.6 | 76.1 | 82.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2,993 | 40 | |
| SpbTrackerDetector=DSVT [52], Mode=online2024.09 | 86.51 | 86.07 | — | — | 257 | 496 | 72.66 | — | 71.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | 30,884 | 3,508 | 875 | — | |
| CasTrack2025.05 | 86.29 | — | — | — | 184 | — | 77.3 | — | 80.29 | — | — | 83.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| StrongFusionInput=2D+3D, Paradigm=Fusion-based2026.06 | 85.53 | — | — | — | — | — | 75.65 | 72.08 | 79.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4,658 | 58 | |
| BcMODTInput=2D+3D, Paradigm=Fusion-based2026.06 | 85.48 | — | — | — | — | — | 71 | 73.62 | 69.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3,353 | 381 | |
| JMODTInput=2D+3D, Paradigm=Fusion-based2026.06 | 85.35 | — | — | — | — | — | 70.73 | 73.45 | 68.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3,438 | 350 | |
| PolarMOT2025.05 | 85.1 | — | — | — | 462 | — | 75.2 | — | 76.95 | — | — | 80 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PolarMOTInput=3D, Paradigm=3D-based2026.06 | 85.08 | — | — | — | — | — | 75.16 | 73.94 | 76.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2,668 | 462 | |
| EAFFMOTInput=3D, Paradigm=3D-based2026.06 | 84.77 | — | — | — | — | — | 72.28 | 71.97 | 73.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3,946 | 107 | |
| DeepFusionMOTInput=2D+3D, Paradigm=Fusion-based2026.06 | 84.64 | — | — | — | — | — | 75.46 | 71.54 | 80.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4,601 | 84 | |
| DeepFusion-MOT2025.05 | 84.6 | — | — | — | 84 | — | 75.5 | — | 80.1 | — | — | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TripletTrackDetector=QD-3DT [25], Mode=online2024.09 | 84.32 | 86.06 | — | — | 322 | 522 | 73.58 | — | 74.66 | — | — | — | — | — | — | — | — | — | — | — | — | — | 29,750 | 4,642 | 430 | — | |
| TripletTrack2025.05 | 84.32 | — | — | — | 322 | — | 73.58 | — | 74.66 | — | — | 77.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FNC2Detector=Voxel R-CNN [16], Mode=online2024.09 | 84.21 | 85.86 | — | — | 195 | 301 | 73.19 | — | 73.77 | — | — | — | — | — | — | — | — | — | — | — | — | — | 31,629 | 2,763 | 2,472 | — | |
| MCTrackInput=3D, Paradigm=3D-based, Detector=CasA 3D [30]2026.06 | 83.89 | — | — | — | — | — | 78.12 | 73.24 | 84.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3,364 | 63 | |
| MCMOT-CPD2018.06 | 78.9 | 82.13 | 52.31 | 11.69 | 228 | 536 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NOMTvariant=asterisk2018.06 | 78.15 | 79.46 | 57.23 | 13.23 | 31 | 207 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LP-SSVMvariant=asterisk2018.06 | 77.63 | 77.8 | 56.31 | 8.46 | 62 | 539 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MDP2018.06 | 76.59 | 82.1 | 52.15 | 13.38 | 130 | 387 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DSM2018.06 | 76.15 | 83.42 | 60 | 8.31 | 296 | 868 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SCEAvariant=asterisk2018.06 | 75.58 | 79.39 | 53.08 | 11.54 | 104 | 448 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NOMT-HMvariant=asterisk2018.06 | 75.2 | 80.02 | 50 | 13.54 | 105 | 351 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSPvariant=asterisk2018.06 | 72.72 | 78.55 | 53.85 | 8 | 185 | 932 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| mbodSSPvariant=asterisk2018.06 | 72.69 | 78.75 | 48.77 | 8.77 | 114 | 858 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DCO-Xvariant=asterisk2018.06 | 68.11 | 78.85 | 37.54 | 14.15 | 318 | 959 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UCMCTrackmotion compensation=true, detection source=Permatrack, input features=coordinates only2024.03 | 67.4 | — | — | — | — | — | 55.2 | — | 58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NOMTvariant=original2018.06 | 66.6 | 78.17 | 41.08 | 25.23 | 13 | 150 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RMOTvariant=asterisk2018.06 | 65.83 | 75.42 | 40.15 | 9.69 | 209 | 727 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Permatrackmotion compensation=true, detection source=Permatrack, input features=coordinates only2024.03 | 65.1 | — | — | — | — | — | 47.4 | — | 43.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| C-TWiXmotion compensation=false, detection source=Permatrack, input features=coordinates only2024.03 | 65 | — | — | — | — | — | 52.4 | — | 54.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OC-SORTmotion compensation=false, detection source=Permatrack, input features=coordinates only2024.03 | 62 | — | — | — | — | — | 53 | — | 57.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LP-SSVMvariant=original2018.06 | 61.77 | 76.93 | 35.54 | 21.69 | 16 | 422 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NOMT-HMvariant=original2018.06 | 61.17 | 78.65 | 33.85 | 28 | 28 | 241 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ODAMOT2018.06 | 59.23 | 75.45 | 27.08 | 15.54 | 389 | 1,274 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSPvariant=original2018.06 | 57.85 | 77.64 | 29.38 | 24.31 | 7 | 704 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SCEAvariant=original2018.06 | 57.03 | 78.84 | 26.92 | 26.62 | 17 | 461 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| mbodSSPvariant=original2018.06 | 56.03 | 77.52 | 23.23 | 27.23 | 0 | 699 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TBD2018.06 | 55.07 | 78.35 | 20.46 | 32.62 | 31 | 529 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RMOTvariant=original2018.06 | 52.42 | 75.18 | 21.69 | 31.85 | 50 | 376 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CEM2018.06 | 51.94 | 77.11 | 20 | 31.54 | 125 | 396 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AB3DReference=IROS20202022.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 69.99 | 83.61 | 69.33 | 113 | 37.81 | 38.13 | 44.33 | 181 | — | — | — | — | |
| CenterTrackTraining Supervision=Video-level annotations2021.11 | — | — | — | — | — | — | 73 | 75.6 | 71.2 | 80.1 | 84.6 | 73.8 | 89 | 86.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CenterTrackReference=ECCV20202022.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73.02 | 88.83 | 71.2 | 254 | 40.35 | 53.84 | 36.93 | 425 | — | — | — | — | |
| FAMNetTraining Supervision=Video-level annotations2021.11 | — | — | — | — | — | — | 52.6 | 61 | 45.5 | 64.4 | 78.7 | 48.7 | 77.4 | 81.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| IMM-JHSEDetection Source=PermaTrack2024.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 79.21 | 89.8 | 82.29 | — | 54.07 | 64.95 | 56.89 | — | — | — | — | — | |
| LGMTrackerReference=ICCV20212022.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73.14 | 87.6 | 72.31 | 448 | — | — | — | — | — | — | — | — | |
| mmMOTTraining Supervision=Video-level annotations2021.11 | — | — | — | — | — | — | 62.1 | 72.3 | 54 | 76.2 | 84.9 | 59 | 82.4 | 86.6 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MPNTrackReference=CVPR20202022.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 45.26 | 46.23 | 47.28 | 397 | — | — | — | — | |
| OC-SORTReference=arxiv20222022.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.54 | 90.28 | 76.39 | 250 | 54.69 | 65.14 | 59.08 | 204 | — | — | — | — | |
| OC-SORTDetection Source=PermaTrack2024.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.5 | 90.3 | 76.4 | — | 54.7 | 65.1 | 59.1 | — | — | — | — | — | |
| PermaTrackReference=ICCV20212022.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.42 | 90.85 | 77.66 | 275 | 47.43 | 65.05 | 43.66 | 483 | — | — | — | — | |
| QD-3DTReference=TPAMI20222022.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 72.77 | 85.94 | 72.19 | 206 | 41.08 | 51.77 | 38.82 | 717 | — | — | — | — | |
| QDTrackReference=CVPR20212022.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 68.45 | 84.93 | 65.49 | 313 | 41.12 | 55.55 | 38.1 | 487 | — | — | — | — | |
| SORTTraining Supervision=Unsupervised2021.11 | — | — | — | — | — | — | 42.5 | 44 | 41.3 | 47.3 | 73.9 | 42.8 | 83 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| StrongSORT++Reference=ours, ECC=true, NSA Kalman=true, AFLink=true, GSI=true2022.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.75 | 90.35 | 78.2 | 440 | 54.48 | 67.38 | 57.31 | 178 | — | — | — | — | |
| UCMCTrackDetection Source=PermaTrack2024.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.1 | 90.4 | 77.2 | — | 55.2 | 67.4 | 58 | — | — | — | — | — | |
| UCMCTrack+Detection Source=PermaTrack2024.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74.2 | 90.2 | 71.7 | — | 54.3 | 67.2 | 56.3 | — | — | — | — | — | |
| Visual-SpatialTraining Supervision=Unsupervised2021.11 | — | — | — | — | — | — | 62.5 | 61.1 | 65.3 | 67.7 | 73.8 | 69.1 | 83.1 | 80.3 | — | — | — | — | — | — | — | — | — | — | — | — |