Object Tracking on KITTI Test (Online Methods)

Metric: MOTA (higher is better)

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Results

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#	Model↕	MOTA▼	Extra Data	Paper	Date↕	Code
1	CasTrack	8629	No	-	-	-
2	RobMOT (Dynamic)	91.11	No	Towards Accurate State Estimation: Kalman Filter...	2025-05-12	-
3	RobMOT	91.02	No	RobMOT: Robust 3D Multi-Object Tracking by Obser...	2024-05-19	Code
4	LEGO	90.61	No	LEGO: Learning and Graph-Optimized Modular Track...	2023-08-19	-
5	UCMCTrack	90.4	No	UCMCTrack: Multi-Object Tracking with Uniform Ca...	2023-12-14	Code
6	OC-SORT	90.3	No	Observation-Centric SORT: Rethinking SORT for Ro...	2022-03-27	Code
7	KFDL	90.29	No	-	-	-
8	SRK ODESA	90.03	No	-	-	-
9	MCTrack	89.82	No	MCTrack: A Unified 3D Multi-Object Tracking Fram...	2024-09-23	Code
10	IMM-JHSE	89.8	No	One Homography is All You Need: IMM-based Joint ...	2024-09-04	Code
11	C-TWiX	89.68	No	Learning Data Association for Multi-Object Track...	2024-03-12	Code
12	CenterTrack	89.44	No	Tracking Objects as Points	2020-04-02	Code
13	VirConvTrack	89.1	No	Virtual Sparse Convolution for Multimodal 3D Obj...	2023-03-04	Code
14	DEFT	88.95	No	DEFT: Detection Embeddings for Tracking	2021-02-03	Code
15	EagerMOT	87.82	No	EagerMOT: 3D Multi-Object Tracking via Sensor Fu...	2021-04-29	Code
16	QD-3DT	86.41	No	Monocular Quasi-Dense 3D Object Tracking	2021-03-12	Code
17	JRMOT	85.7	No	JRMOT: A Real-Time 3D Multi-Object Tracker and a...	2020-02-19	Code
18	MOSTFusion	84.83	No	MOTS: Multi-Object Tracking and Segmentation	2019-02-10	-
19	mmMOT	84.77	No	Robust Multi-Modality Multi-Object Tracking	2019-09-09	Code
20	mmMOT-normal	84.77	No	Robust Multi-Modality Multi-Object Tracking	2019-09-09	Code
21	3DT	84.52	No	Joint Monocular 3D Vehicle Detection and Tracking	2018-11-26	Code
22	Mono3DT	84.52	No	Joint Monocular 3D Vehicle Detection and Tracking	2018-11-26	Code
23	RRC-IIITH	84.24	No	Beyond Pixels: Leveraging Geometry and Shape Cue...	2018-02-26	Code
24	AB3DMOT	83.84	No	3D Multi-Object Tracking: A Baseline and New Eva...	2019-07-09	Code
25	PMBM	80.39	No	Mono-Camera 3D Multi-Object Tracking Using Deep ...	2018-02-27	-
26	MCMOT-CPD	78.9	No	Multi-Class Multi-Object Tracking using Changing...	2016-08-30	-
27	PC-TCNN	78.46	No	-	-	-
28	NOMT	78.15	No	Near-Online Multi-target Tracking with Aggregate...	2015-04-09	-
29	MDP	76.59	No	-	-	-
30	DSM	76.15	No	End-to-end Learning of Multi-sensor 3D Tracking ...	2018-06-29	-
31	SCEA	75.58	No	-	-	-
32	CIWT	75.39	No	Combined Image- and World-Space Tracking in Traf...	2018-09-19	-
33	NOMT-HM	75.2	No	Near-Online Multi-target Tracking with Aggregate...	2015-04-09	-
34	mbodSSP	72.69	No	FollowMe: Efficient Online Min-Cost Flow Trackin...	2014-07-23	-

#1CasTrack
8629
MOTA
No paper
#2RobMOT (Dynamic)SOTA
91.11
MOTA· 2025-05-12
Towards Accurate State Estimation: Kalman Filter Incorporating Motion Dynamics for 3D Multi-Object Tracking
#3RobMOTSOTA
91.02
MOTA· 2024-05-19
RobMOT: Robust 3D Multi-Object Tracking by Observational Noise and State Estimation Drift Mitigation on LiDAR PointCloud Code
#4LEGOSOTA
90.61
MOTA· 2023-08-19
LEGO: Learning and Graph-Optimized Modular Tracker for Online Multi-Object Tracking with Point Clouds
#5UCMCTrack
90.4
MOTA· 2023-12-14
UCMCTrack: Multi-Object Tracking with Uniform Camera Motion Compensation Code
#6OC-SORTSOTA
90.3
MOTA· 2022-03-27
Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Tracking Code
#7KFDL
90.29
MOTA
No paper
#8SRK ODESA
90.03
MOTA
No paper
#9MCTrack
89.82
MOTA· 2024-09-23
MCTrack: A Unified 3D Multi-Object Tracking Framework for Autonomous Driving Code
#10IMM-JHSE
89.8
MOTA· 2024-09-04
One Homography is All You Need: IMM-based Joint Homography and Multiple Object State Estimation Code
#11C-TWiX
89.68
MOTA· 2024-03-12
Learning Data Association for Multi-Object Tracking using Only Coordinates Code
#12CenterTrackSOTA
89.44
MOTA· 2020-04-02
Tracking Objects as Points Code
#13VirConvTrack
89.1
MOTA· 2023-03-04
Virtual Sparse Convolution for Multimodal 3D Object Detection Code
#14DEFT
88.95
MOTA· 2021-02-03
DEFT: Detection Embeddings for Tracking Code
#15EagerMOT
87.82
MOTA· 2021-04-29
EagerMOT: 3D Multi-Object Tracking via Sensor Fusion Code
#16QD-3DT
86.41
MOTA· 2021-03-12
Monocular Quasi-Dense 3D Object Tracking Code
#17JRMOTSOTA
85.7
MOTA· 2020-02-19
JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Dataset Code
#18MOSTFusionSOTA
84.83
MOTA· 2019-02-10
MOTS: Multi-Object Tracking and Segmentation
#19mmMOT
84.77
MOTA· 2019-09-09
Robust Multi-Modality Multi-Object Tracking Code
#20mmMOT-normal
84.77
MOTA· 2019-09-09
Robust Multi-Modality Multi-Object Tracking Code
#213DTSOTA
84.52
MOTA· 2018-11-26
Joint Monocular 3D Vehicle Detection and Tracking Code
#22Mono3DT
84.52
MOTA· 2018-11-26
Joint Monocular 3D Vehicle Detection and Tracking Code
#23RRC-IIITHSOTA
84.24
MOTA· 2018-02-26
Beyond Pixels: Leveraging Geometry and Shape Cues for Online Multi-Object Tracking Code
#24AB3DMOT
83.84
MOTA· 2019-07-09
3D Multi-Object Tracking: A Baseline and New Evaluation Metrics Code
#25PMBM
80.39
MOTA· 2018-02-27
Mono-Camera 3D Multi-Object Tracking Using Deep Learning Detections and PMBM Filtering
#26MCMOT-CPDSOTA
78.9
MOTA· 2016-08-30
Multi-Class Multi-Object Tracking using Changing Point Detection
#27PC-TCNN
78.46
MOTA
No paper
#28NOMTSOTA
78.15
MOTA· 2015-04-09
Near-Online Multi-target Tracking with Aggregated Local Flow Descriptor
#29MDP
76.59
MOTA
No paper
#30DSM
76.15
MOTA· 2018-06-29
End-to-end Learning of Multi-sensor 3D Tracking by Detection
#31SCEA
75.58
MOTA
No paper
#32CIWT
75.39
MOTA· 2018-09-19
Combined Image- and World-Space Tracking in Traffic Scenes
#33NOMT-HM
75.2
MOTA· 2015-04-09
Near-Online Multi-target Tracking with Aggregated Local Flow Descriptor
#34mbodSSPSOTA
72.69
MOTA· 2014-07-23
FollowMe: Efficient Online Min-Cost Flow Tracking with Bounded Memory and Computation