Papers › MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectors
MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectors
Yuang Zhang, Tiancai Wang, Xiangyu Zhang
In this paper, we propose MOTRv2, a simple yet effective pipeline to bootstrap end-to-end multi-object tracking with a pretrained object detector. Existing end-to-end methods, MOTR and TrackFormer are inferior to their tracking-by-detection counterparts mainly due to their poor detection performance. We aim to improve MOTR by elegantly incorporating an extra object detector. We first adopt the anchor formulation of queries and then use an extra object detector to generate proposals as anchors, providing detection prior to MOTR. The simple modification greatly eases the conflict between joint learning detection and association tasks in MOTR. MOTRv2 keeps the query propogation feature and scales well on large-scale benchmarks. MOTRv2 ranks the 1st place (73.4% HOTA on DanceTrack) in the 1st Multiple People Tracking in Group Dance Challenge. Moreover, MOTRv2 reaches state-of-the-art performance on the BDD100K dataset. We hope this simple and effective pipeline can provide some new insights to the end-to-end MOT community. Code is available at \url{https://github.com/megvii-research/MOTRv2}.
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Code
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Multi-Object Tracking | DanceTrack | MOTRv2 | AssA | 64.4 | #3 of 37 | Archive leaderboard | report |
| Multi-Object Tracking | DanceTrack | MOTRv2 | DetA | 83.7 | #3 of 37 | Archive leaderboard | report |
| Multi-Object Tracking | DanceTrack | MOTRv2 | HOTA | 73.4 | #3 of 37 | Archive leaderboard | report |
| Multi-Object Tracking | DanceTrack | MOTRv2 | IDF1 | 76.0 | #3 of 37 | Archive leaderboard | report |
| Multi-Object Tracking | DanceTrack | MOTRv2 | MOTA | 92.1 | #3 of 37 | Archive leaderboard | report |
| Multiple Object Tracking | BDD100K val | MOTRv2 | AssocA | - | #3 of 9 | Archive leaderboard | report |
| Multiple Object Tracking | BDD100K val | MOTRv2 | TETA | - | #3 of 9 | Archive leaderboard | report |
| Multiple Object Tracking | BDD100K val | MOTRv2 | mIDF1 | 56.5 | #3 of 9 | Archive leaderboard | report |
| Multiple Object Tracking | BDD100K val | MOTRv2 | mMOTA | 43.6 | #3 of 9 | 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.
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