Multiple Traffic Target Tracking with Spatial-Temporal Affinity Network

Table 3

KITTI dataset evaluation results.

Dataset	Method	Setting	MT↑ (%)	ML↓ (%)	IDS↓	FG↓	MOTA↑ (%)	MOTP↑ (%)
KITTI Car	MCMOT_CPD [30]	Offline	52.31	11.69	228	536	78.90	82.13
	DSK [31]	Offline	60	8.31	296	868	76.15	83.42
	Complexer-YOLO [32]	Online	58	5.08	1186	2092	75.7	78.46
	NOMT [33]	Offline	41.08	25.23	31	207	66.6	78.17
	LP_SSVM [34]	Offline	35.54	21.26	62	539	61.77	76.93
	CEM [35]	Offline	20	31.54	125	396	51.94	77.11
	RMOT [36]	Online	21.69	31.859	209	727	52.42	75.18
	ODAMOT [37]	Online	27.08	15.54	389	1274	59.23	75.45
	SCEA [38]	Online	26.92	26.62	104	448	57.03	78.84
	CIWT [39]	Online	13.75	34.71	112	901	43.37	71.44
	FAMNet [40]	Online	51.38	8.92	123	713	77.08	78.79
	SASN-MCF [41]	Online	58	7.85	443	975	70.06	82.65
	MASS [42]	Online	74	2.92	353	516	84.64	85.36
	SAMT [43]	Online	62.77	6.00	198	294	83.64	85.89
	CenterTrack [24]	Online	82.15	2.46	254	227	88.83	84.97
	Ours	Online	83.1	2.9	271	254	86.90	85.71