Simple Online Realtime Tracking [SORT]

Submitted on 31 Jul. 2020 11:30 by
Issa Mouawad (University of Genoa)

Running time:.002 s
Environment:1 core @ 2.5 Ghz (Python)

Method Description:
This paper explores a pragmatic approach to
multiple object tracking where the main focus is to
associate objects efficiently for online and
realtime applications. To this end, detection
quality is identified as a key factor influencing
tracking performance, where changing the detector
can improve tracking by up to 18.9%. Despite only
using a rudimentary combination of familiar
techniques such as the Kalman Filter and Hungarian
algorithm for the tracking components, this
approach achieves an accuracy comparable to state-
of-the-art online trackers. Furthermore, due to the
simplicity of our tracking method, the tracker
updates at a rate of 260 Hz which is over 20x
faster than other state-of-the-art trackers.
Latex Bibtex:
title={Simple online and realtime tracking},
author={Bewley, Alex and Ge, Zongyuan and Ott,
Lionel and Ramos, Fabio and Upcroft, Ben},
booktitle={2016 IEEE International Conference on
Image Processing (ICIP)},

Detailed Results

From all 29 test sequences, our benchmark computes the HOTA tracking metrics (HOTA, DetA, AssA, DetRe, DetPr, AssRe, AssPr, LocA) [1] as well as the CLEARMOT, MT/PT/ML, identity switches, and fragmentation [2,3] metrics. The tables below show all of these metrics.

Benchmark HOTA DetA AssA DetRe DetPr AssRe AssPr LocA
CAR 42.52 % 44.01 % 41.31 % 47.30 % 73.93 % 42.83 % 83.04 % 80.75 %

Benchmark TP FP FN
CAR 20325 14067 1676

CAR 53.15 % 77.75 % 54.23 % 370 40.00 %

Benchmark MT rate PT rate ML rate FRAG
CAR 26.15 % 44.46 % 29.39 % 621

Benchmark # Dets # Tracks
CAR 22001 1189

This table as LaTeX

This figure as: png pdf

[1] J. Luiten, A. Os̆ep, P. Dendorfer, P. Torr, A. Geiger, L. Leal-Taixé, B. Leibe: HOTA: A Higher Order Metric for Evaluating Multi-object Tracking. IJCV 2020.
[2] K. Bernardin, R. Stiefelhagen: Evaluating Multiple Object Tracking Performance: The CLEAR MOT Metrics. JIVP 2008.
[3] Y. Li, C. Huang, R. Nevatia: Learning to associate: HybridBoosted multi-target tracker for crowded scene. CVPR 2009.

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