{"id":"https://openalex.org/W4416748919","doi":"https://doi.org/10.1109/iros60139.2025.11245874","title":"MCTrack: A Unified 3D Multi-Object Tracking Framework for Autonomous Driving","display_name":"MCTrack: A Unified 3D Multi-Object Tracking Framework for Autonomous Driving","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748919","doi":"https://doi.org/10.1109/iros60139.2025.11245874"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245874","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100758699","display_name":"Xiyang Wang","orcid":"https://orcid.org/0000-0003-3148-5779"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiyang Wang","raw_affiliation_strings":["Mach Drive"],"affiliations":[{"raw_affiliation_string":"Mach Drive","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113877953","display_name":"Shouzheng Qi","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shouzheng Qi","raw_affiliation_strings":["National University of Defense Technology"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jieyou Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I24185976","display_name":"Sichuan University","ror":"https://ror.org/011ashp19","country_code":"CN","type":"education","lineage":["https://openalex.org/I24185976"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jieyou Zhao","raw_affiliation_strings":["Sichuan University","University of Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"Sichuan University","institution_ids":["https://openalex.org/I24185976"]},{"raw_affiliation_string":"University of Science and Technology of China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009482239","display_name":"Hangning Zhou","orcid":"https://orcid.org/0009-0009-8894-3137"},"institutions":[{"id":"https://openalex.org/I4210109870","display_name":"Vi Technology (United States)","ror":"https://ror.org/016mnbp44","country_code":"US","type":"company","lineage":["https://openalex.org/I4210109870"]},{"id":"https://openalex.org/I4401726805","display_name":"Megvii (China)","ror":"https://ror.org/040b32p69","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726805"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hangning Zhou","raw_affiliation_strings":["MEGVII Technology"],"affiliations":[{"raw_affiliation_string":"MEGVII Technology","institution_ids":["https://openalex.org/I4210109870","https://openalex.org/I4401726805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347369","display_name":"Siyu Zhang","orcid":"https://orcid.org/0000-0001-5531-8655"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Siyu Zhang","raw_affiliation_strings":["Mach Drive"],"affiliations":[{"raw_affiliation_string":"Mach Drive","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101966263","display_name":"Guoan Wang","orcid":"https://orcid.org/0000-0003-3142-8395"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guoan Wang","raw_affiliation_strings":["Mach Drive"],"affiliations":[{"raw_affiliation_string":"Mach Drive","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000747447","display_name":"Kai Tu","orcid":"https://orcid.org/0000-0002-0557-6792"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kai Tu","raw_affiliation_strings":["Mach Drive"],"affiliations":[{"raw_affiliation_string":"Mach Drive","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101839433","display_name":"Songlin Guo","orcid":"https://orcid.org/0009-0006-8109-5962"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Songlin Guo","raw_affiliation_strings":["Mach Drive"],"affiliations":[{"raw_affiliation_string":"Mach Drive","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102966970","display_name":"Jianbo Zhao","orcid":"https://orcid.org/0000-0003-3755-4691"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I24185976","display_name":"Sichuan University","ror":"https://ror.org/011ashp19","country_code":"CN","type":"education","lineage":["https://openalex.org/I24185976"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbo Zhao","raw_affiliation_strings":["Sichuan University","University of Science and Technology of China"],"affiliations":[{"raw_affiliation_string":"Sichuan University","institution_ids":["https://openalex.org/I24185976"]},{"raw_affiliation_string":"University of Science and Technology of China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100692320","display_name":"Jianping Li","orcid":"https://orcid.org/0000-0003-2192-1450"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Li","raw_affiliation_strings":["National University of Defense Technology"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101769301","display_name":"Hailong Qin","orcid":"https://orcid.org/0000-0002-0323-3083"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hailong Qin","raw_affiliation_strings":["National University of Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102760015","display_name":"Mu Yang","orcid":"https://orcid.org/0000-0001-9442-9243"},"institutions":[{"id":"https://openalex.org/I4210109870","display_name":"Vi Technology (United States)","ror":"https://ror.org/016mnbp44","country_code":"US","type":"company","lineage":["https://openalex.org/I4210109870"]},{"id":"https://openalex.org/I4401726805","display_name":"Megvii (China)","ror":"https://ror.org/040b32p69","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726805"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mu Yang","raw_affiliation_strings":["MEGVII Technology"],"affiliations":[{"raw_affiliation_string":"MEGVII Technology","institution_ids":["https://openalex.org/I4210109870","https://openalex.org/I4401726805"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5100758699"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.489,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93707447,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4551","last_page":"4558"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.7193999886512756,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.7193999886512756,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.07339999824762344,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.043299999088048935,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6403999924659729},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5720999836921692},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5702000260353088},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.5232999920845032},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44350001215934753},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.37119999527931213}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7095000147819519},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6403999924659729},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5720999836921692},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5702000260353088},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.5232999920845032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5101000070571899},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44350001215934753},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42969998717308044},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.37119999527931213},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.35089999437332153},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2969000041484833},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.2948000133037567},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2578999996185303},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245874","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W2124781496","https://openalex.org/W2150066425","https://openalex.org/W2150823344","https://openalex.org/W2511791013","https://openalex.org/W2949708697","https://openalex.org/W2962766617","https://openalex.org/W2964241181","https://openalex.org/W2989604896","https://openalex.org/W2990763144","https://openalex.org/W3034681945","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3086436251","https://openalex.org/W3130890398","https://openalex.org/W3132607695","https://openalex.org/W3136115421","https://openalex.org/W3167095230","https://openalex.org/W4221145330","https://openalex.org/W4286904999","https://openalex.org/W4292793982","https://openalex.org/W4293811845","https://openalex.org/W4312473433","https://openalex.org/W4312778480","https://openalex.org/W4313024968","https://openalex.org/W4313072323","https://openalex.org/W4313149358","https://openalex.org/W4320736629","https://openalex.org/W4382203297","https://openalex.org/W4383066393","https://openalex.org/W4383108608","https://openalex.org/W4386075854","https://openalex.org/W4386076066","https://openalex.org/W4386076204","https://openalex.org/W4386083121","https://openalex.org/W4386918908","https://openalex.org/W4387099257","https://openalex.org/W4387448542","https://openalex.org/W4389665756","https://openalex.org/W4390871916","https://openalex.org/W4390872444","https://openalex.org/W4390872451","https://openalex.org/W4390872732","https://openalex.org/W4390872843","https://openalex.org/W4393032949","https://openalex.org/W4396907536","https://openalex.org/W4403294976","https://openalex.org/W4413371404","https://openalex.org/W4413926027"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"MCTrack,":[3],"a":[4,38,86],"new":[5],"3D":[6],"multi-object":[7],"tracking":[8,24],"method":[9,115],"that":[10],"achieves":[11],"performance":[12],"across":[13,50],"KITTI,":[14],"nuScenes,":[15],"and":[16,101],"Waymo":[17],"datasets.":[18],"Addressing":[19],"the":[20,45,58,65,70,78,94,113],"gap":[21],"in":[22,57],"existing":[23],"paradigms,":[25],"which":[26,103],"often":[27],"perform":[28],"well":[29],"on":[30,64],"specific":[31],"datasets":[32],"but":[33],"lack":[34],"generalizability,":[35],"MCTrack":[36],"offers":[37],"unified":[39],"solution.":[40],"Additionally,":[41],"we":[42,84],"have":[43],"standardized":[44],"format":[46],"of":[47,60,73,80,89,96,112],"perceptual":[48],"results":[49],"various":[51],"datasets,":[52],"termed":[53],"BaseVersion,":[54],"facilitating":[55],"researchers":[56],"field":[59],"MOT)":[61],"to":[62,92],"concentrate":[63],"core":[66],"algorithmic":[67],"development":[68],"without":[69],"undue":[71],"burden":[72],"data":[74],"preprocessing.":[75],"Finally,":[76],"recognizing":[77],"limitations":[79],"current":[81],"evaluation":[82],"metrics,":[83],"introduce":[85],"novel":[87],"set":[88],"metrics":[90],"designed":[91],"evaluate":[93],"output":[95],"motion":[97],"information,":[98],"including":[99],"velocity":[100],"acceleration,":[102],"are":[104,116],"essential":[105],"for":[106],"subsequent":[107],"tasks.":[108],"The":[109],"source":[110],"codes":[111],"proposed":[114],"available":[117],"at":[118],"this":[119],"link:":[120],"https://github.com/megvii-research/MCTrack":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-11-28T00:00:00"}