Papers › MCTrack: A Unified 3D Multi-Object Tracking Framework for Autonomous Driving
MCTrack: A Unified 3D Multi-Object Tracking Framework for Autonomous Driving
Xiyang Wang, Shouzheng Qi, Jieyou Zhao, Hangning Zhou, Siyu Zhang, Guoan Wang, Kai Tu, Songlin Guo, Jianbo Zhao, Jian Li, Mu Yang
This paper introduces MCTrack, a new 3D multi-object tracking method that achieves state-of-the-art (SOTA) performance across KITTI, nuScenes, and Waymo datasets. Addressing the gap in existing tracking paradigms, which often perform well on specific datasets but lack generalizability, MCTrack offers a unified solution. Additionally, we have standardized the format of perceptual results across various datasets, termed BaseVersion, facilitating researchers in the field of multi-object tracking (MOT) to concentrate on the core algorithmic development without the undue burden of data preprocessing. Finally, recognizing the limitations of current evaluation metrics, we propose a novel set that assesses motion information output, such as velocity and acceleration, crucial for downstream tasks. The source codes of the proposed method are available at this link: https://github.com/megvii-research/MCTrack}{https://github.com/megvii-research/MCTrack
Code
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| 3D Multi-Object Tracking | Waymo Open Dataset | MCTrack | MOTA/L2 | 0.7344 | #2 of 3 | Archive leaderboard | report |
| 3D Multi-Object Tracking | nuScenes | MCTrack | AMOTA | 0.763 | #1 of 115 | Archive leaderboard | report |
| Multiple Object Tracking | KITTI Test (Offline Methods) | MCTrack | HOTA | 82.75 | #1 of 2 | Archive leaderboard | report |
| Multiple Object Tracking | KITTI Test (Online Methods) | MCTrack | HOTA | 81.07 | #3 of 34 | Archive leaderboard | report |
| Multiple Object Tracking | KITTI Test (Online Methods) | MCTrack | IDSW | 64 | #3 of 34 | Archive leaderboard | report |
| Multiple Object Tracking | KITTI Test (Online Methods) | MCTrack | MOTA | 89.82 | #3 of 34 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Methods
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