{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/joint-monocular-3d-vehicle-detection-and","title":"Joint Monocular 3D Vehicle Detection and Tracking","arxiv_id":"1811.10742","date":"2018-11-26","proceeding":"ICCV 2019 10","authors":["Hou-Ning Hu","Qi-Zhi Cai","Dequan Wang","Ji Lin","Min Sun","Philipp Krähenbühl","Trevor Darrell","Fisher Yu"],"abstract":"Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle detection and tracking from monocular videos. The framework can not only associate detections of vehicles in motion over time, but also estimate their complete 3D bounding box information from a sequence of 2D images captured on a moving platform. Our method leverages 3D box depth-ordering matching for robust instance association and utilizes 3D trajectory prediction for re-identification of occluded vehicles. We also design a motion learning module based on an LSTM for more accurate long-term motion extrapolation. Our experiments on simulation, KITTI, and Argoverse datasets show that our 3D tracking pipeline offers robust data association and tracking. On Argoverse, our image-based method is significantly better for tracking 3D vehicles within 30 meters than the LiDAR-centric baseline methods.","url_abs":"https://arxiv.org/abs/1811.10742v3","url_pdf":"https://arxiv.org/pdf/1811.10742v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"joint-monocular-3d-vehicle-detection-and","repo_url":"https://github.com/ucbdrive/3d-vehicle-tracking","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"BSD-3-Clause"}}],"tasks":[{"task_slug":"3d-object-detection","task_name":"3D Object Detection"},{"task_slug":"3d-pose-estimation","task_name":"3D Pose Estimation"},{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"},{"task_slug":"multiple-object-tracking","task_name":"Multiple Object Tracking"},{"task_slug":"object-tracking","task_name":"Object Tracking"},{"task_slug":"online-multi-object-tracking","task_name":"Online Multi-Object Tracking"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":"trajectory-prediction","task_name":"Trajectory Prediction"},{"task_slug":"vehicle-detection","task_name":"vehicle detection"}],"methods":[{"method_slug":"lstm","method_name":"LSTM"},{"method_slug":"sigmoid-activation","method_name":"Sigmoid Activation"},{"method_slug":"tanh-activation","method_name":"Tanh Activation"}],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/multiple-object-tracking-on-kitti-test-online","task":"Multiple Object Tracking","dataset":"KITTI Test (Online Methods)","model":"3DT","rank_in_archive_order":23,"of":34,"metrics":{"MOTA":"84.52"},"uses_additional_data":false},{"leaderboard":"/sota/multiple-object-tracking-on-kitti-test-online","task":"Multiple Object Tracking","dataset":"KITTI Test (Online Methods)","model":"Mono3DT","rank_in_archive_order":24,"of":34,"metrics":{"MOTA":"84.52"},"uses_additional_data":false}],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1811.10742","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1811.10742"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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