Benchmarks
Results on the MOT17 and MOT20 train sets and on DanceTrack, comparing SushiTrack with the
bundled ByteTrack and OC-SORT references at matched parameters. Metrics are from TrackEval.
Latency is the mean per-frame update() time, single-threaded, excluding I/O.
The page holds two runs. The first ran SushiTrack on the linear Kalman path (kalman_type=0)
with the tentative lifecycle, OCM and ORU enabled and appearance ReID off. The second changed
only kalman_type to 2, the IMM estimator: 45.8 % overall HOTA against 45.7 %, at 218 against
57 µs per frame. The date, the commit and the machine of the runs were not recorded.
Summary of the linear Kalman run
MOT17
| Tracker | HOTA | DetA | AssA | MOTA | IDF1 | IDSW | FP | FN | Lat (µs/frame) |
|---|---|---|---|---|---|---|---|---|---|
| SushiTrack | 47.2 % | 48.2 % | 47.5 % | 55.0 % | 55.5 % | 2849 | 7092 | 185931 | 37 |
| ByteTrack | 44.7 % | 48.5 % | 42.4 % | 55.1 % | 52.5 % | 4773 | 12806 | 177427 | 87 |
| OC-SORT | 44.1 % | 46.4 % | 43.2 % | 53.0 % | 52.2 % | 2836 | 9172 | 191275 | 167 |
MOT20
| Tracker | HOTA | DetA | AssA | MOTA | IDF1 | IDSW | FP | FN | Lat (µs/frame) |
|---|---|---|---|---|---|---|---|---|---|
| SushiTrack | 44.9 % | 43.9 % | 50.9 % | 50.6 % | 50.1 % | 2904 | 13740 | 1185170 | 318 |
| ByteTrack | 41.9 % | 42.7 % | 46.9 % | 49.9 % | 46.3 % | 3680 | 26843 | 1184486 | 506 |
| OC-SORT | 38.7 % | 39.0 % | 41.5 % | 45.1 % | 44.0 % | 2972 | 29224 | 1254585 | 1181 |
DanceTrack
| Tracker | HOTA | DetA | AssA | MOTA | IDF1 | IDSW | FP | FN | Lat (µs/frame) |
|---|---|---|---|---|---|---|---|---|---|
| SushiTrack | 44.9 % | 72.0 % | 29.3 % | 85.1 % | 46.5 % | 3568 | 7215 | 42428 | 18 |
| ByteTrack | 37.9 % | 65.2 % | 23.3 % | 82.0 % | 42.8 % | 3863 | 15913 | 43195 | 34 |
| OC-SORT | 45.6 % | 69.7 % | 31.1 % | 80.2 % | 48.5 % | 2949 | 15976 | 50485 | 71 |
Overall
| Tracker | HOTA | DetA | AssA | MOTA | IDF1 | IDSW | FP | FN | Lat (µs/frame) |
|---|---|---|---|---|---|---|---|---|---|
| SushiTrack | 45.7 % | 60.3 % | 38.3 % | 70.4 % | 50.2 % | 9321 | 28047 | 1413529 | 57 |
| ByteTrack | 40.8 % | 56.7 % | 32.8 % | 68.7 % | 46.8 % | 12316 | 55562 | 1405108 | 103 |
| OC-SORT | 44.3 % | 57.9 % | 36.7 % | 66.5 % | 49.4 % | 8757 | 54372 | 1496345 | 223 |
Linear Kalman run (kalman_type=0)
Configuration:
{
"sushitrack": {
"basic": {
"time_aware": 0,
"frame_rate": 25,
"track_buffer": 30,
"track_thresh": 0.2,
"high_thresh": 0.5,
"match_thresh": 0.7,
"enable_ocm": 1,
"enable_oru": 1,
"enable_reid": 0,
"enable_tentative": 1,
"enable_mahalanobis": 0
},
"advanced": {
"coordinate_system": {
"enable_xyah": 0,
"iou_type": 0,
"iou_plus_one": 0,
"kalman_type": 0
},
"association": {
"fuse_score": 1,
"primary_assoc_mode": 1,
"iou_match_thresh": 0.5,
"unconfirmed_iou_thresh": 0.7,
"duplicate_iou_thresh": 0.15
},
"reid_params": {
"feature_momentum": 0.9,
"reid_high_thresh": 0.3,
"reid_high_iou_weight": 0.3,
"reid_low_thresh": 0.5,
"reid_low_iou_weight": 0.2,
"reid_recovery_thresh": 0.4,
"max_feature_history": 100,
"reid_direct_assignment_weight": 1.0
},
"tentative_logic": {
"tentative_match_thresh": 0.5,
"tentative_confirm_hits": 3,
"tentative_max_age_seconds": 0.08,
"tentative_max_miss_frames": 2,
"tentative_init_suppress_iou": 0.7,
"tentative_fast_thresh": 0.7,
"tentative_fast_hits": 1,
"tentative_slow_thresh": 0.2,
"tentative_slow_hits_offset": 2,
"tentative_vslow_hits_offset": 4
},
"mahalanobis_gating": {
"gating_thresh": 9.4877,
"motion_cost_weight": 0.15,
"max_area_ratio": 50.0
},
"ocm": {
"ocm_vdc_weight": 0.1,
"ocm_delta_t": 1,
"ocm_min_velocity": 3.0,
"ocm_max_age": 2,
"ocm_maneuver_weight_scale": 0.15
}
}
}
}Per-sequence results:
Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
----------------------------------------------------------------------------------------------------------------
sushitrack MOT17-02-DPM 19.2% 12.2% 30.2% 14.3% 21.0% 39 204 15677 19
bytetrack MOT17-02-DPM 17.4% 13.6% 22.3% 14.6% 20.8% 49 521 15307 27
ocsort MOT17-02-DPM 15.7% 11.6% 21.2% 13.6% 18.0% 49 217 15791 93
sushitrack MOT17-02-FRCNN 34.8% 29.9% 40.8% 32.4% 39.7% 57 149 12361 32
bytetrack MOT17-02-FRCNN 33.8% 29.7% 38.7% 32.7% 40.3% 47 202 12259 109
ocsort MOT17-02-FRCNN 35.0% 29.8% 41.4% 31.8% 40.4% 60 187 12418 185
sushitrack MOT17-02-SDP 36.3% 37.6% 35.2% 43.3% 46.0% 222 476 9843 87
bytetrack MOT17-02-SDP 32.2% 37.6% 27.8% 43.0% 41.8% 213 582 9791 112
ocsort MOT17-02-SDP 31.2% 32.6% 30.0% 38.4% 41.1% 173 292 10975 216
sushitrack MOT17-02-YOLOX 53.0% 66.2% 42.8% 75.7% 59.0% 205 515 3799 74
bytetrack MOT17-02-YOLOX 51.5% 65.9% 40.5% 75.5% 57.7% 214 1234 3111 143
ocsort MOT17-02-YOLOX 48.2% 64.7% 36.3% 72.7% 53.1% 271 1169 3641 337
sushitrack MOT17-04-DPM 31.9% 27.2% 37.4% 31.8% 40.5% 148 870 31436 49
bytetrack MOT17-04-DPM 34.9% 30.8% 39.6% 34.5% 45.1% 128 2189 28820 139
ocsort MOT17-04-DPM 28.4% 26.8% 30.3% 31.2% 36.0% 179 1111 31434 341
sushitrack MOT17-04-FRCNN 53.3% 48.7% 58.6% 54.0% 62.0% 43 21 21795 77
bytetrack MOT17-04-FRCNN 52.3% 48.5% 56.6% 54.2% 60.3% 52 61 21662 80
ocsort MOT17-04-FRCNN 53.3% 48.5% 58.8% 53.9% 62.0% 41 32 21864 193
sushitrack MOT17-04-SDP 63.1% 64.5% 61.7% 74.7% 74.2% 135 78 11842 116
bytetrack MOT17-04-SDP 61.7% 65.0% 58.6% 74.8% 71.0% 121 121 11725 189
ocsort MOT17-04-SDP 60.4% 60.9% 59.9% 72.1% 74.3% 131 64 13094 350
sushitrack MOT17-04-YOLOX 85.5% 85.3% 85.7% 92.3% 92.8% 28 163 3448 133
bytetrack MOT17-04-YOLOX 84.6% 84.8% 84.4% 92.3% 92.1% 31 278 3338 427
ocsort MOT17-04-YOLOX 84.8% 84.5% 85.1% 91.5% 92.5% 25 327 3699 609
sushitrack MOT17-05-DPM 26.9% 21.4% 33.9% 25.4% 33.5% 55 115 4992 8
bytetrack MOT17-05-DPM 31.2% 24.6% 39.5% 29.2% 40.5% 47 216 4636 14
ocsort MOT17-05-DPM 26.1% 19.7% 34.7% 23.7% 33.9% 43 104 5128 70
sushitrack MOT17-05-FRCNN 44.9% 41.0% 49.3% 47.8% 57.2% 38 72 3499 12
bytetrack MOT17-05-FRCNN 43.4% 40.4% 46.6% 48.2% 55.1% 66 82 3432 43
ocsort MOT17-05-FRCNN 42.6% 38.5% 47.1% 44.9% 53.6% 29 71 3714 40
sushitrack MOT17-05-SDP 50.1% 50.9% 49.7% 58.6% 62.3% 102 102 2660 14
bytetrack MOT17-05-SDP 49.0% 50.8% 47.8% 58.0% 60.9% 156 147 2600 52
ocsort MOT17-05-SDP 48.0% 45.5% 51.0% 51.8% 59.3% 86 89 3157 117
sushitrack MOT17-05-YOLOX 67.6% 69.5% 66.2% 79.6% 81.3% 83 241 1086 23
bytetrack MOT17-05-YOLOX 61.4% 68.1% 55.8% 78.6% 72.4% 190 538 751 111
ocsort MOT17-05-YOLOX 61.0% 67.1% 55.8% 75.0% 71.9% 106 583 1043 204
sushitrack MOT17-09-DPM 36.1% 34.9% 37.5% 43.1% 50.2% 67 166 2797 24
bytetrack MOT17-09-DPM 32.3% 38.8% 27.2% 48.3% 43.7% 73 320 2359 94
ocsort MOT17-09-DPM 30.9% 32.9% 29.0% 41.9% 44.4% 67 163 2865 135
sushitrack MOT17-09-FRCNN 50.7% 50.6% 50.9% 54.5% 61.0% 16 11 2394 11
bytetrack MOT17-09-FRCNN 44.0% 48.2% 40.2% 54.3% 55.0% 35 25 2374 18
ocsort MOT17-09-FRCNN 48.5% 49.3% 47.7% 53.2% 58.4% 20 10 2462 52
sushitrack MOT17-09-SDP 52.7% 55.4% 50.2% 63.3% 65.0% 22 17 1914 18
bytetrack MOT17-09-SDP 44.2% 54.2% 36.2% 62.7% 53.4% 54 26 1904 73
ocsort MOT17-09-SDP 44.5% 50.6% 39.1% 58.7% 54.5% 26 22 2152 126
sushitrack MOT17-09-YOLOX 61.8% 72.4% 52.7% 81.3% 69.3% 35 48 914 22
bytetrack MOT17-09-YOLOX 54.7% 69.9% 42.9% 81.1% 59.5% 46 180 779 104
ocsort MOT17-09-YOLOX 54.7% 69.5% 43.2% 77.0% 60.9% 58 226 940 186
sushitrack MOT17-10-DPM 21.5% 22.5% 20.7% 27.5% 25.7% 83 146 9079 22
bytetrack MOT17-10-DPM 25.7% 24.9% 26.6% 30.4% 33.7% 74 284 8579 32
ocsort MOT17-10-DPM 22.0% 20.6% 23.6% 25.5% 28.6% 65 146 9356 63
sushitrack MOT17-10-FRCNN 40.5% 47.3% 34.9% 50.9% 45.1% 247 562 5494 35
bytetrack MOT17-10-FRCNN 38.0% 47.0% 31.0% 49.5% 42.4% 311 819 5353 108
ocsort MOT17-10-FRCNN 39.1% 46.1% 33.3% 49.6% 43.6% 204 518 5746 200
sushitrack MOT17-10-SDP 41.4% 56.2% 30.8% 66.1% 48.3% 331 412 3606 46
bytetrack MOT17-10-SDP 43.9% 55.8% 34.8% 65.1% 51.2% 395 541 3550 88
ocsort MOT17-10-SDP 39.0% 52.4% 29.3% 62.5% 46.8% 277 354 4190 144
sushitrack MOT17-10-YOLOX 50.7% 64.5% 40.1% 76.9% 57.0% 242 481 2248 46
bytetrack MOT17-10-YOLOX 43.8% 65.2% 29.7% 75.9% 47.4% 433 1053 1614 82
ocsort MOT17-10-YOLOX 48.0% 63.2% 36.9% 74.8% 54.8% 276 1026 1929 294
sushitrack MOT17-11-DPM 39.9% 36.8% 43.2% 44.6% 51.2% 50 242 4938 18
bytetrack MOT17-11-DPM 41.0% 38.4% 43.7% 46.2% 52.1% 35 417 4624 65
ocsort MOT17-11-DPM 32.5% 35.6% 29.6% 44.0% 40.5% 76 159 5052 99
sushitrack MOT17-11-FRCNN 55.1% 53.0% 57.3% 56.5% 61.4% 39 129 3934 13
bytetrack MOT17-11-FRCNN 51.3% 52.6% 50.0% 56.9% 57.8% 53 168 3848 27
ocsort MOT17-11-FRCNN 51.4% 52.0% 50.8% 55.1% 56.9% 41 139 4057 73
sushitrack MOT17-11-SDP 58.0% 61.0% 55.3% 69.4% 65.5% 73 222 2595 20
bytetrack MOT17-11-SDP 55.2% 61.1% 50.0% 69.1% 63.8% 116 255 2547 34
ocsort MOT17-11-SDP 51.1% 57.5% 45.4% 65.8% 59.5% 83 190 2958 81
sushitrack MOT17-11-YOLOX 73.9% 78.9% 69.3% 89.8% 81.5% 54 249 662 22
bytetrack MOT17-11-YOLOX 72.2% 79.0% 66.4% 90.3% 79.4% 58 414 445 35
ocsort MOT17-11-YOLOX 70.2% 78.1% 63.4% 88.2% 77.1% 64 488 565 73
sushitrack MOT17-13-DPM 15.7% 7.8% 31.9% 9.3% 16.4% 32 69 10455 7
bytetrack MOT17-13-DPM 16.5% 9.4% 29.1% 11.1% 17.8% 72 96 10178 17
ocsort MOT17-13-DPM 15.2% 8.2% 28.6% 10.2% 17.4% 21 66 10370 23
sushitrack MOT17-13-FRCNN 44.5% 42.9% 46.6% 46.4% 53.1% 210 575 5457 29
bytetrack MOT17-13-FRCNN 36.4% 42.8% 31.6% 42.8% 40.3% 564 851 5245 67
ocsort MOT17-13-FRCNN 44.3% 42.1% 47.1% 45.4% 52.3% 167 517 5677 134
sushitrack MOT17-13-SDP 48.6% 41.5% 57.2% 48.3% 59.1% 110 524 5389 25
bytetrack MOT17-13-SDP 42.6% 41.4% 44.3% 45.3% 49.6% 457 653 5261 83
ocsort MOT17-13-SDP 45.0% 39.8% 51.2% 46.8% 54.4% 119 457 5617 92
sushitrack MOT17-13-YOLOX 64.4% 69.6% 59.8% 83.4% 75.9% 83 233 1617 35
bytetrack MOT17-13-YOLOX 55.6% 68.4% 45.7% 78.1% 64.3% 683 533 1335 75
ocsort MOT17-13-YOLOX 65.0% 70.2% 60.4% 83.6% 75.9% 79 445 1381 132
sushitrack MOT20-01 40.5% 29.9% 55.0% 31.2% 42.0% 19 23 13620 37
bytetrack MOT20-01 37.4% 27.5% 51.0% 29.3% 38.4% 17 20 14018 61
ocsort MOT20-01 29.1% 16.4% 51.6% 16.9% 27.1% 19 0 16488 73
sushitrack MOT20-01-YOLOX 63.7% 67.7% 60.3% 79.0% 75.6% 99 243 3828 131
bytetrack MOT20-01-YOLOX 59.2% 67.4% 52.2% 79.4% 68.6% 159 438 3496 146
ocsort MOT20-01-YOLOX 60.3% 65.7% 55.7% 76.3% 71.2% 109 580 4024 350
sushitrack MOT20-02 33.9% 29.4% 39.1% 30.8% 38.3% 146 198 106701 47
bytetrack MOT20-02 31.3% 27.8% 35.4% 29.5% 35.0% 160 195 108705 140
ocsort MOT20-02 25.5% 18.6% 35.1% 19.3% 27.5% 131 0 124794 187
sushitrack MOT20-02-YOLOX 56.0% 67.3% 46.8% 79.3% 63.3% 760 1544 29679 147
bytetrack MOT20-02-YOLOX 52.3% 66.6% 41.3% 79.4% 58.5% 898 2624 28378 238
ocsort MOT20-02-YOLOX 55.2% 65.1% 47.0% 76.5% 63.0% 739 4031 31582 747
sushitrack MOT20-03 13.8% 4.8% 39.9% 5.1% 9.4% 7 5 297505 70
bytetrack MOT20-03 12.3% 3.8% 40.4% 4.1% 7.7% 4 14 300846 69
ocsort MOT20-03 1.4% 0.3% 7.2% 0.3% 0.4% 13 0 312800 12
sushitrack MOT20-03-YOLOX 74.4% 76.1% 72.7% 89.9% 88.8% 389 3117 28020 663
bytetrack MOT20-03-YOLOX 71.2% 74.7% 67.9% 89.5% 85.7% 501 6265 26109 1129
ocsort MOT20-03-YOLOX 73.2% 75.1% 71.4% 88.5% 87.9% 440 6797 28758 2468
sushitrack MOT20-05 11.7% 4.0% 34.9% 4.2% 7.6% 24 9 618876 83
bytetrack MOT20-05 11.2% 3.5% 36.0% 3.8% 6.8% 21 7 621934 166
ocsort MOT20-05 1.4% 0.3% 7.6% 0.3% 0.5% 23 1 644558 27
sushitrack MOT20-05-YOLOX 64.7% 72.0% 58.3% 85.0% 75.6% 1460 8601 86941 1363
bytetrack MOT20-05-YOLOX 59.9% 70.8% 50.8% 84.5% 69.9% 1920 17280 81000 2100
ocsort MOT20-05-YOLOX 63.1% 70.4% 56.6% 82.8% 74.3% 1498 17815 91581 5585
sushitrack dancetrack0001 59.4% 68.3% 51.7% 88.5% 63.5% 20 276 271 13
bytetrack dancetrack0001 47.1% 66.2% 33.5% 83.1% 49.3% 20 527 282 21
ocsort dancetrack0001 46.3% 55.5% 38.6% 46.3% 45.3% 22 2250 364 71
sushitrack dancetrack0002 58.0% 86.1% 39.1% 93.8% 57.9% 61 6 505 13
bytetrack dancetrack0002 38.0% 76.1% 19.0% 92.8% 39.3% 89 51 529 19
ocsort dancetrack0002 57.6% 85.2% 38.9% 92.1% 57.0% 45 6 680 34
sushitrack dancetrack0006 38.9% 69.0% 21.9% 81.0% 38.6% 85 353 1571 15
bytetrack dancetrack0006 30.7% 63.1% 15.0% 79.6% 33.8% 105 475 1574 21
ocsort dancetrack0006 37.8% 65.8% 21.7% 77.2% 43.8% 69 436 1907 59
sushitrack dancetrack0008 41.3% 74.7% 22.8% 87.5% 39.5% 89 11 755 12
bytetrack dancetrack0008 31.8% 66.8% 15.2% 84.3% 34.1% 93 129 856 19
ocsort dancetrack0008 36.9% 72.1% 18.9% 84.0% 33.5% 68 56 970 40
sushitrack dancetrack0012 33.0% 62.7% 17.5% 74.0% 33.6% 203 81 3107 19
bytetrack dancetrack0012 27.3% 58.1% 12.9% 74.2% 28.0% 198 133 3036 26
ocsort dancetrack0012 31.0% 59.9% 16.1% 70.7% 31.5% 155 82 3585 69
sushitrack dancetrack0015 70.3% 86.1% 57.5% 96.9% 74.0% 7 9 319 15
bytetrack dancetrack0015 60.1% 80.2% 45.1% 96.6% 68.8% 20 23 318 21
ocsort dancetrack0015 78.2% 85.3% 71.6% 95.4% 87.7% 7 11 477 46
sushitrack dancetrack0016 40.5% 82.9% 19.8% 93.7% 35.7% 46 104 648 9
bytetrack dancetrack0016 27.9% 76.4% 10.2% 93.3% 26.1% 85 128 636 15
ocsort dancetrack0016 47.8% 83.5% 27.4% 91.7% 46.7% 39 82 931 43
sushitrack dancetrack0020 41.4% 58.1% 29.8% 72.3% 44.6% 335 448 4799 80
bytetrack dancetrack0020 40.6% 57.1% 29.4% 72.4% 45.2% 302 796 4461 259
ocsort dancetrack0020 42.6% 57.4% 32.0% 69.9% 47.6% 298 556 5214 359
sushitrack dancetrack0023 33.9% 65.4% 17.6% 80.2% 35.9% 162 137 2282 15
bytetrack dancetrack0023 35.9% 59.6% 21.7% 79.3% 39.9% 123 366 2204 23
ocsort dancetrack0023 36.5% 61.6% 21.7% 76.0% 39.7% 128 447 2551 59
sushitrack dancetrack0024 71.8% 81.9% 63.0% 94.5% 83.3% 9 21 219 9
bytetrack dancetrack0024 55.1% 70.2% 43.3% 90.8% 75.0% 13 115 288 13
ocsort dancetrack0024 67.7% 76.0% 60.3% 93.3% 79.6% 11 14 277 29
sushitrack dancetrack0027 45.7% 59.2% 35.4% 71.2% 53.8% 49 44 898 14
bytetrack dancetrack0027 42.7% 59.8% 30.5% 76.0% 51.9% 45 53 729 20
ocsort dancetrack0027 45.4% 60.4% 34.3% 71.7% 52.3% 39 58 877 50
sushitrack dancetrack0029 52.6% 72.6% 38.2% 89.9% 56.2% 47 47 702 11
bytetrack dancetrack0029 41.3% 67.9% 25.3% 89.5% 48.1% 44 115 666 16
ocsort dancetrack0029 41.7% 72.0% 24.2% 85.7% 40.6% 46 77 1007 60
sushitrack dancetrack0032 38.0% 59.8% 24.2% 70.6% 40.5% 39 42 906 9
bytetrack dancetrack0032 31.6% 56.8% 17.7% 71.1% 35.3% 44 55 871 11
ocsort dancetrack0032 36.6% 60.7% 22.0% 70.8% 38.5% 35 44 901 27
sushitrack dancetrack0033 33.2% 62.7% 17.5% 75.2% 36.3% 132 316 1099 14
bytetrack dancetrack0033 26.0% 58.6% 11.5% 73.8% 29.5% 134 414 1089 20
ocsort dancetrack0033 33.8% 61.3% 18.7% 69.0% 38.0% 108 533 1292 52
sushitrack dancetrack0037 34.3% 73.2% 16.1% 85.2% 31.6% 88 174 970 15
bytetrack dancetrack0037 29.8% 66.3% 13.4% 82.8% 28.4% 93 297 1035 49
ocsort dancetrack0037 35.0% 71.2% 17.2% 82.8% 34.9% 74 208 1149 41
sushitrack dancetrack0039 46.7% 84.2% 25.9% 94.8% 45.4% 27 18 272 8
bytetrack dancetrack0039 51.2% 78.1% 33.6% 94.2% 54.2% 33 47 275 12
ocsort dancetrack0039 60.1% 84.0% 43.0% 93.3% 59.4% 23 19 365 27
sushitrack dancetrack0044 21.3% 59.1% 7.7% 70.7% 18.6% 404 583 2936 25
bytetrack dancetrack0044 22.4% 56.8% 8.9% 68.2% 23.4% 572 1438 2254 44
ocsort dancetrack0044 21.3% 55.0% 8.3% 64.4% 19.8% 354 1170 3244 111
sushitrack dancetrack0045 32.7% 65.8% 16.3% 81.5% 33.1% 231 110 2589 25
bytetrack dancetrack0045 30.7% 61.8% 15.3% 81.1% 34.1% 218 368 2407 36
ocsort dancetrack0045 31.8% 63.1% 16.0% 77.3% 35.7% 185 139 3270 97
sushitrack dancetrack0049 38.9% 70.3% 21.6% 83.7% 37.9% 111 137 1301 14
bytetrack dancetrack0049 28.3% 63.0% 12.8% 80.9% 28.3% 108 369 1339 21
ocsort dancetrack0049 34.0% 62.9% 18.4% 70.6% 34.4% 85 1060 1652 65
sushitrack dancetrack0051 37.2% 70.8% 19.6% 82.2% 36.7% 104 16 1802 18
bytetrack dancetrack0051 32.4% 63.8% 16.5% 80.9% 34.6% 118 112 1834 58
ocsort dancetrack0051 41.8% 67.6% 25.9% 78.4% 41.0% 92 23 2215 117
sushitrack dancetrack0052 47.5% 79.1% 28.5% 91.1% 47.3% 32 16 351 6
bytetrack dancetrack0052 41.5% 71.9% 24.0% 90.2% 47.0% 32 83 322 9
ocsort dancetrack0052 51.7% 77.9% 34.3% 89.3% 55.4% 19 36 423 21
sushitrack dancetrack0053 43.1% 68.8% 27.1% 82.1% 44.3% 62 489 516 10
bytetrack dancetrack0053 22.6% 57.1% 9.0% 68.6% 20.8% 95 1001 776 16
ocsort dancetrack0053 32.4% 65.4% 16.1% 72.6% 31.2% 55 979 595 36
sushitrack dancetrack0055 36.2% 73.6% 17.8% 87.4% 38.0% 77 157 498 9
bytetrack dancetrack0055 23.9% 60.7% 9.5% 75.0% 22.9% 84 637 733 14
ocsort dancetrack0055 37.2% 68.4% 20.3% 79.2% 34.3% 52 556 603 33
sushitrack dancetrack0057 51.3% 73.0% 36.0% 87.9% 58.3% 36 76 252 8
bytetrack dancetrack0057 40.4% 64.9% 25.2% 83.0% 54.5% 37 162 311 12
ocsort dancetrack0057 49.2% 73.0% 33.2% 85.6% 58.2% 19 86 328 24
sushitrack dancetrack0061 42.7% 76.1% 24.0% 93.6% 42.7% 34 48 300 9
bytetrack dancetrack0061 31.9% 67.3% 15.1% 88.3% 36.2% 24 245 432 12
ocsort dancetrack0061 53.3% 74.5% 38.1% 89.3% 59.8% 30 228 387 24
sushitrack dancetrack0062 36.0% 75.9% 17.1% 90.5% 35.1% 64 35 495 10
bytetrack dancetrack0062 32.3% 64.8% 16.1% 81.9% 34.0% 62 334 733 13
ocsort dancetrack0062 39.8% 75.3% 21.0% 89.1% 40.7% 41 44 596 26
sushitrack dancetrack0066 40.9% 78.4% 21.3% 92.0% 40.8% 44 23 412 8
bytetrack dancetrack0066 32.6% 67.5% 15.8% 87.5% 42.6% 60 173 516 13
ocsort dancetrack0066 44.7% 76.0% 26.3% 89.2% 46.1% 26 37 584 28
sushitrack dancetrack0068 26.8% 69.6% 10.4% 82.9% 21.4% 119 48 857 10
bytetrack dancetrack0068 24.5% 57.3% 10.5% 74.9% 25.6% 147 330 1028 28
ocsort dancetrack0068 29.0% 65.8% 12.8% 75.6% 26.0% 94 288 1081 46
sushitrack dancetrack0069 64.8% 83.6% 50.2% 97.1% 65.6% 15 8 216 9
bytetrack dancetrack0069 47.9% 78.3% 29.3% 96.7% 55.0% 18 34 218 13
ocsort dancetrack0069 60.8% 87.5% 42.2% 96.1% 64.4% 10 18 298 30
sushitrack dancetrack0072 31.1% 61.1% 15.8% 67.7% 29.2% 78 1082 748 11
bytetrack dancetrack0072 21.1% 50.1% 8.9% 53.0% 22.0% 96 1682 1000 18
ocsort dancetrack0072 33.9% 55.2% 20.8% 56.0% 35.0% 53 1714 830 43
sushitrack dancetrack0074 49.2% 76.1% 31.8% 89.0% 49.5% 32 117 432 8
bytetrack dancetrack0074 42.7% 70.2% 26.0% 87.7% 48.3% 25 203 425 12
ocsort dancetrack0074 49.9% 75.9% 32.8% 87.4% 49.9% 21 131 517 27
sushitrack dancetrack0075 41.8% 69.9% 25.0% 80.9% 42.6% 30 80 928 10
bytetrack dancetrack0075 48.7% 68.2% 34.7% 81.3% 56.1% 17 142 860 15
ocsort dancetrack0075 56.5% 71.1% 44.9% 81.1% 67.0% 19 119 888 31
sushitrack dancetrack0080 73.7% 80.7% 67.3% 94.9% 84.2% 34 25 559 18
bytetrack dancetrack0080 64.0% 70.3% 58.2% 92.1% 83.1% 28 251 675 25
ocsort dancetrack0080 74.2% 80.5% 68.5% 93.6% 86.8% 26 126 620 59
sushitrack dancetrack0082 60.5% 79.7% 46.0% 94.1% 65.5% 80 15 639 41
bytetrack dancetrack0082 52.8% 73.5% 38.0% 93.8% 61.2% 108 69 593 56
ocsort dancetrack0082 64.4% 78.8% 52.7% 92.3% 71.2% 77 38 839 116
sushitrack dancetrack0083 51.7% 79.4% 33.8% 95.4% 52.0% 84 65 540 56
bytetrack dancetrack0083 48.5% 68.4% 34.5% 86.6% 55.7% 67 816 1120 70
ocsort dancetrack0083 49.8% 78.5% 31.6% 93.5% 51.1% 84 130 762 197
sushitrack dancetrack0086 42.5% 64.5% 28.0% 76.4% 46.3% 101 814 1322 35
bytetrack dancetrack0086 39.7% 59.1% 26.7% 73.8% 47.7% 80 1149 1256 81
ocsort dancetrack0086 44.8% 58.2% 34.6% 64.6% 50.7% 87 1666 1606 125
sushitrack dancetrack0087 41.3% 65.9% 26.1% 81.4% 45.3% 133 111 1748 19
bytetrack dancetrack0087 35.3% 58.7% 21.3% 76.7% 39.6% 132 493 1864 28
ocsort dancetrack0087 38.9% 63.7% 23.9% 79.1% 42.2% 107 128 1998 78
sushitrack dancetrack0096 58.7% 68.3% 50.5% 82.3% 67.5% 149 631 2018 64
bytetrack dancetrack0096 52.3% 58.8% 46.6% 77.3% 66.0% 157 1357 2077 83
ocsort dancetrack0096 56.3% 62.1% 51.2% 72.0% 65.4% 138 1694 2588 307
sushitrack dancetrack0098 39.7% 74.8% 21.1% 87.3% 37.0% 68 77 924 12
bytetrack dancetrack0098 33.0% 68.0% 16.1% 85.9% 33.8% 82 179 925 20
ocsort dancetrack0098 42.0% 73.5% 24.1% 83.7% 42.2% 65 103 1202 66
sushitrack dancetrack0099 47.0% 68.4% 32.3% 81.7% 49.2% 47 365 722 24
bytetrack dancetrack0099 48.0% 65.9% 35.1% 79.6% 54.4% 55 562 648 85
ocsort dancetrack0099 50.4% 66.4% 38.4% 76.8% 56.6% 43 584 812 63
----------------------------------------------------------------------------------------------------------------
MOT17
----------------------------------------------------------------------------------------------------------------
Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
sushitrack MOT17 47.2% 48.2% 47.5% 55.0% 55.5% 2849 7092 185931 37
bytetrack MOT17 44.7% 48.5% 42.4% 55.1% 52.5% 4773 12806 177427 87
ocsort MOT17 44.1% 46.4% 43.2% 53.0% 52.2% 2836 9172 191275 167
----------------------------------------------------------------------------------------------------------------
MOT20
----------------------------------------------------------------------------------------------------------------
Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
sushitrack MOT20 44.9% 43.9% 50.9% 50.6% 50.1% 2904 13740 1185170 318
bytetrack MOT20 41.9% 42.7% 46.9% 49.9% 46.3% 3680 26843 1184486 506
ocsort MOT20 38.7% 39.0% 41.5% 45.1% 44.0% 2972 29224 1254585 1181
----------------------------------------------------------------------------------------------------------------
DanceTrack
----------------------------------------------------------------------------------------------------------------
Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
sushitrack DanceTrack 44.9% 72.0% 29.3% 85.1% 46.5% 3568 7215 42428 18
bytetrack DanceTrack 37.9% 65.2% 23.3% 82.0% 42.8% 3863 15913 43195 34
ocsort DanceTrack 45.6% 69.7% 31.1% 80.2% 48.5% 2949 15976 50485 71
----------------------------------------------------------------------------------------------------------------
OVERALL
----------------------------------------------------------------------------------------------------------------
Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
sushitrack OVERALL 45.7% 60.3% 38.3% 70.4% 50.2% 9321 28047 1413529 57
bytetrack OVERALL 40.8% 56.7% 32.8% 68.7% 46.8% 12316 55562 1405108 103
ocsort OVERALL 44.3% 57.9% 36.7% 66.5% 49.4% 8757 54372 1496345 223
----------------------------------------------------------------------------------------------------------------IMM run (kalman_type=2)
Configuration:
{
"sushitrack": {
"basic": {
"time_aware": 0,
"frame_rate": 25,
"track_buffer": 30,
"track_thresh": 0.2,
"high_thresh": 0.5,
"match_thresh": 0.7,
"enable_ocm": 1,
"enable_oru": 1,
"enable_reid": 0,
"enable_tentative": 1,
"enable_mahalanobis": 0
},
"advanced": {
"coordinate_system": {
"enable_xyah": 0,
"iou_type": 0,
"iou_plus_one": 0,
"kalman_type": 2
},
"association": {
"fuse_score": 1,
"primary_assoc_mode": 1,
"iou_match_thresh": 0.5,
"unconfirmed_iou_thresh": 0.7,
"duplicate_iou_thresh": 0.15
},
"reid_params": {
"feature_momentum": 0.9,
"reid_high_thresh": 0.3,
"reid_high_iou_weight": 0.3,
"reid_low_thresh": 0.5,
"reid_low_iou_weight": 0.2,
"reid_recovery_thresh": 0.4,
"max_feature_history": 100,
"reid_direct_assignment_weight": 1.0
},
"tentative_logic": {
"tentative_match_thresh": 0.5,
"tentative_confirm_hits": 3,
"tentative_max_age_seconds": 0.08,
"tentative_max_miss_frames": 2,
"tentative_init_suppress_iou": 0.7,
"tentative_fast_thresh": 0.7,
"tentative_fast_hits": 1,
"tentative_slow_thresh": 0.2,
"tentative_slow_hits_offset": 2,
"tentative_vslow_hits_offset": 4
},
"mahalanobis_gating": {
"gating_thresh": 9.4877,
"motion_cost_weight": 0.15,
"max_area_ratio": 50.0
},
"ocm": {
"ocm_vdc_weight": 0.1,
"ocm_delta_t": 1,
"ocm_min_velocity": 3.0,
"ocm_max_age": 2,
"ocm_maneuver_weight_scale": 0.15
}
}
}
}Per-sequence results:
Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
----------------------------------------------------------------------------------------------------------------
sushitrack MOT17-02-DPM 18.3% 11.9% 28.3% 14.2% 20.5% 45 204 15689 99
bytetrack MOT17-02-DPM 17.4% 13.6% 22.3% 14.6% 20.8% 49 521 15307 27
ocsort MOT17-02-DPM 15.7% 11.6% 21.2% 13.6% 18.0% 49 217 15791 53
sushitrack MOT17-02-FRCNN 36.1% 30.1% 43.7% 32.4% 41.9% 57 150 12352 179
bytetrack MOT17-02-FRCNN 33.8% 29.7% 38.7% 32.7% 40.3% 47 202 12259 46
ocsort MOT17-02-FRCNN 35.0% 29.8% 41.4% 31.8% 40.4% 60 187 12418 123
sushitrack MOT17-02-SDP 33.5% 37.4% 30.2% 43.2% 42.4% 255 487 9814 381
bytetrack MOT17-02-SDP 32.2% 37.6% 27.8% 43.0% 41.8% 213 582 9791 97
ocsort MOT17-02-SDP 31.2% 32.6% 30.0% 38.4% 41.1% 173 292 10975 212
sushitrack MOT17-02-YOLOX 53.8% 66.1% 44.1% 76.0% 61.2% 204 498 3764 397
bytetrack MOT17-02-YOLOX 51.5% 65.9% 40.5% 75.5% 57.7% 214 1234 3111 215
ocsort MOT17-02-YOLOX 48.2% 64.7% 36.3% 72.7% 53.1% 271 1169 3641 319
sushitrack MOT17-04-DPM 32.3% 27.4% 38.0% 32.1% 41.2% 148 861 31302 292
bytetrack MOT17-04-DPM 34.9% 30.8% 39.6% 34.5% 45.1% 128 2189 28820 200
ocsort MOT17-04-DPM 28.4% 26.8% 30.3% 31.2% 36.0% 179 1111 31434 463
sushitrack MOT17-04-FRCNN 53.3% 48.9% 58.2% 54.0% 61.5% 44 21 21802 316
bytetrack MOT17-04-FRCNN 52.3% 48.5% 56.6% 54.2% 60.3% 52 61 21662 81
ocsort MOT17-04-FRCNN 53.3% 48.5% 58.8% 53.9% 62.0% 41 32 21864 207
sushitrack MOT17-04-SDP 64.0% 64.2% 63.9% 74.8% 76.0% 113 88 11788 429
bytetrack MOT17-04-SDP 61.7% 65.0% 58.6% 74.8% 71.0% 121 121 11725 115
ocsort MOT17-04-SDP 60.4% 60.9% 59.9% 72.1% 74.3% 131 64 13094 267
sushitrack MOT17-04-YOLOX 85.6% 85.3% 85.9% 92.4% 92.9% 24 156 3450 501
bytetrack MOT17-04-YOLOX 84.6% 84.8% 84.4% 92.3% 92.1% 31 278 3338 176
ocsort MOT17-04-YOLOX 84.8% 84.5% 85.1% 91.5% 92.5% 25 327 3699 510
sushitrack MOT17-05-DPM 27.9% 21.5% 36.4% 25.7% 34.8% 48 108 4982 62
bytetrack MOT17-05-DPM 31.2% 24.6% 39.5% 29.2% 40.5% 47 216 4636 29
ocsort MOT17-05-DPM 26.1% 19.7% 34.7% 23.7% 33.9% 43 104 5128 74
sushitrack MOT17-05-FRCNN 46.6% 41.2% 52.8% 47.8% 59.0% 36 72 3501 79
bytetrack MOT17-05-FRCNN 43.4% 40.4% 46.6% 48.2% 55.1% 66 82 3432 32
ocsort MOT17-05-FRCNN 42.6% 38.5% 47.1% 44.9% 53.6% 29 71 3714 30
sushitrack MOT17-05-SDP 50.1% 51.1% 49.6% 58.8% 61.4% 103 99 2650 108
bytetrack MOT17-05-SDP 49.0% 50.8% 47.8% 58.0% 60.9% 156 147 2600 31
ocsort MOT17-05-SDP 48.0% 45.5% 51.0% 51.8% 59.3% 86 89 3157 119
sushitrack MOT17-05-YOLOX 68.0% 69.8% 66.5% 80.3% 81.2% 69 221 1073 130
bytetrack MOT17-05-YOLOX 61.4% 68.1% 55.8% 78.6% 72.4% 190 538 751 109
ocsort MOT17-05-YOLOX 61.0% 67.1% 55.8% 75.0% 71.9% 106 583 1043 185
sushitrack MOT17-09-DPM 31.3% 34.5% 28.6% 43.1% 44.3% 68 166 2794 108
bytetrack MOT17-09-DPM 32.3% 38.8% 27.2% 48.3% 43.7% 73 320 2359 27
ocsort MOT17-09-DPM 30.9% 32.9% 29.0% 41.9% 44.4% 67 163 2865 64
sushitrack MOT17-09-FRCNN 49.2% 50.2% 48.3% 54.3% 57.7% 24 10 2401 75
bytetrack MOT17-09-FRCNN 44.0% 48.2% 40.2% 54.3% 55.0% 35 25 2374 18
ocsort MOT17-09-FRCNN 48.5% 49.3% 47.7% 53.2% 58.4% 20 10 2462 35
sushitrack MOT17-09-SDP 47.1% 55.3% 40.2% 62.6% 55.5% 50 21 1918 106
bytetrack MOT17-09-SDP 44.2% 54.2% 36.2% 62.7% 53.4% 54 26 1904 25
ocsort MOT17-09-SDP 44.5% 50.6% 39.1% 58.7% 54.5% 26 22 2152 46
sushitrack MOT17-09-YOLOX 58.9% 70.9% 49.0% 81.4% 66.9% 33 35 922 113
bytetrack MOT17-09-YOLOX 54.7% 69.9% 42.9% 81.1% 59.5% 46 180 779 27
ocsort MOT17-09-YOLOX 54.7% 69.5% 43.2% 77.0% 60.9% 58 226 940 65
sushitrack MOT17-10-DPM 24.1% 22.6% 25.7% 27.6% 29.2% 87 163 9050 120
bytetrack MOT17-10-DPM 25.7% 24.9% 26.6% 30.4% 33.7% 74 284 8579 33
ocsort MOT17-10-DPM 22.0% 20.6% 23.6% 25.5% 28.6% 65 146 9356 66
sushitrack MOT17-10-FRCNN 40.7% 47.3% 35.3% 50.8% 44.9% 246 572 5502 253
bytetrack MOT17-10-FRCNN 38.0% 47.0% 31.0% 49.5% 42.4% 311 819 5353 202
ocsort MOT17-10-FRCNN 39.1% 46.1% 33.3% 49.6% 43.6% 204 518 5746 153
sushitrack MOT17-10-SDP 44.5% 55.8% 35.7% 66.7% 53.0% 275 409 3596 250
bytetrack MOT17-10-SDP 43.9% 55.8% 34.8% 65.1% 51.2% 395 541 3550 76
ocsort MOT17-10-SDP 39.0% 52.4% 29.3% 62.5% 46.8% 277 354 4190 134
sushitrack MOT17-10-YOLOX 56.1% 65.1% 48.7% 77.9% 65.5% 197 478 2161 255
bytetrack MOT17-10-YOLOX 43.8% 65.2% 29.7% 75.9% 47.4% 433 1053 1614 211
ocsort MOT17-10-YOLOX 48.0% 63.2% 36.9% 74.8% 54.8% 276 1026 1929 197
sushitrack MOT17-11-DPM 39.5% 36.5% 42.7% 44.7% 51.1% 45 255 4917 95
bytetrack MOT17-11-DPM 41.0% 38.4% 43.7% 46.2% 52.1% 35 417 4624 49
ocsort MOT17-11-DPM 32.5% 35.6% 29.6% 44.0% 40.5% 76 159 5052 119
sushitrack MOT17-11-FRCNN 55.7% 53.2% 58.3% 56.5% 61.8% 49 126 3930 88
bytetrack MOT17-11-FRCNN 51.3% 52.6% 50.0% 56.9% 57.8% 53 168 3848 23
ocsort MOT17-11-FRCNN 51.4% 52.0% 50.8% 55.1% 56.9% 41 139 4057 60
sushitrack MOT17-11-SDP 59.0% 61.6% 56.7% 69.6% 66.8% 72 221 2571 117
bytetrack MOT17-11-SDP 55.2% 61.1% 50.0% 69.1% 63.8% 116 255 2547 49
ocsort MOT17-11-SDP 51.1% 57.5% 45.4% 65.8% 59.5% 83 190 2958 57
sushitrack MOT17-11-YOLOX 76.3% 79.9% 73.1% 90.3% 84.8% 37 235 645 129
bytetrack MOT17-11-YOLOX 72.2% 79.0% 66.4% 90.3% 79.4% 58 414 445 126
ocsort MOT17-11-YOLOX 70.2% 78.1% 63.4% 88.2% 77.1% 64 488 565 163
sushitrack MOT17-13-DPM 15.7% 7.9% 31.2% 9.5% 16.6% 31 67 10434 49
bytetrack MOT17-13-DPM 16.5% 9.4% 29.1% 11.1% 17.8% 72 96 10178 16
ocsort MOT17-13-DPM 15.2% 8.2% 28.6% 10.2% 17.4% 21 66 10370 23
sushitrack MOT17-13-FRCNN 45.1% 43.4% 47.3% 46.5% 52.8% 230 570 5424 197
bytetrack MOT17-13-FRCNN 36.4% 42.8% 31.6% 42.8% 40.3% 564 851 5245 67
ocsort MOT17-13-FRCNN 44.3% 42.1% 47.1% 45.4% 52.3% 167 517 5677 154
sushitrack MOT17-13-SDP 49.0% 41.5% 58.1% 47.9% 58.2% 147 526 5398 187
bytetrack MOT17-13-SDP 42.6% 41.4% 44.3% 45.3% 49.6% 457 653 5261 227
ocsort MOT17-13-SDP 45.0% 39.8% 51.2% 46.8% 54.4% 119 457 5617 113
sushitrack MOT17-13-YOLOX 65.1% 70.1% 60.6% 83.7% 76.1% 87 221 1594 215
bytetrack MOT17-13-YOLOX 55.6% 68.4% 45.7% 78.1% 64.3% 683 533 1335 172
ocsort MOT17-13-YOLOX 65.0% 70.2% 60.4% 83.6% 75.9% 79 445 1381 155
sushitrack MOT20-01 39.7% 29.8% 52.8% 31.2% 41.0% 19 23 13623 203
bytetrack MOT20-01 37.4% 27.5% 51.0% 29.3% 38.4% 17 20 14018 60
ocsort MOT20-01 29.1% 16.4% 51.6% 16.9% 27.1% 19 0 16488 77
sushitrack MOT20-01-YOLOX 62.1% 67.7% 57.4% 79.1% 73.4% 104 232 3814 513
bytetrack MOT20-01-YOLOX 59.2% 67.4% 52.2% 79.4% 68.6% 159 438 3496 146
ocsort MOT20-01-YOLOX 60.3% 65.7% 55.7% 76.3% 71.2% 109 580 4024 827
sushitrack MOT20-02 34.3% 29.4% 39.9% 30.8% 38.3% 142 198 106683 240
bytetrack MOT20-02 31.3% 27.8% 35.4% 29.5% 35.0% 160 195 108705 130
ocsort MOT20-02 25.5% 18.6% 35.1% 19.3% 27.5% 131 0 124794 194
sushitrack MOT20-02-YOLOX 56.7% 67.4% 47.9% 79.4% 63.9% 723 1523 29610 641
bytetrack MOT20-02-YOLOX 52.3% 66.6% 41.3% 79.4% 58.5% 898 2624 28378 424
ocsort MOT20-02-YOLOX 55.2% 65.1% 47.0% 76.5% 63.0% 739 4031 31582 881
sushitrack MOT20-03 13.9% 4.8% 40.3% 5.1% 9.4% 6 5 297542 132
bytetrack MOT20-03 12.3% 3.8% 40.4% 4.1% 7.7% 4 14 300846 130
ocsort MOT20-03 1.4% 0.3% 7.2% 0.3% 0.4% 13 0 312800 25
sushitrack MOT20-03-YOLOX 73.8% 76.2% 71.5% 89.9% 87.7% 409 3109 28047 1852
bytetrack MOT20-03-YOLOX 71.2% 74.7% 67.9% 89.5% 85.7% 501 6265 26109 1193
ocsort MOT20-03-YOLOX 73.2% 75.1% 71.4% 88.5% 87.9% 440 6797 28758 2816
sushitrack MOT20-05 11.8% 4.0% 35.5% 4.2% 7.7% 20 9 618871 179
bytetrack MOT20-05 11.2% 3.5% 36.0% 3.8% 6.8% 21 7 621934 503
ocsort MOT20-05 1.4% 0.3% 7.6% 0.3% 0.5% 23 1 644558 18
sushitrack MOT20-05-YOLOX 64.3% 71.8% 57.6% 85.0% 75.0% 1514 8744 86803 3043
bytetrack MOT20-05-YOLOX 59.9% 70.8% 50.8% 84.5% 69.9% 1920 17280 81000 2018
ocsort MOT20-05-YOLOX 63.1% 70.4% 56.6% 82.8% 74.3% 1498 17815 91581 6038
sushitrack dancetrack0001 60.8% 75.6% 48.9% 88.3% 64.2% 16 285 272 84
bytetrack dancetrack0001 47.1% 66.2% 33.5% 83.1% 49.3% 20 527 282 30
ocsort dancetrack0001 46.3% 55.5% 38.6% 46.3% 45.3% 22 2250 364 77
sushitrack dancetrack0002 61.6% 83.5% 45.5% 93.8% 62.9% 60 8 503 88
bytetrack dancetrack0002 38.0% 76.1% 19.0% 92.8% 39.3% 89 51 529 22
ocsort dancetrack0002 57.6% 85.2% 38.9% 92.1% 57.0% 45 6 680 40
sushitrack dancetrack0006 37.2% 68.7% 20.1% 81.0% 40.2% 83 356 1566 97
bytetrack dancetrack0006 30.7% 63.1% 15.0% 79.6% 33.8% 105 475 1574 21
ocsort dancetrack0006 37.8% 65.8% 21.7% 77.2% 43.8% 69 436 1907 114
sushitrack dancetrack0008 36.2% 75.2% 17.5% 87.8% 35.6% 79 13 746 91
bytetrack dancetrack0008 31.8% 66.8% 15.2% 84.3% 34.1% 93 129 856 49
ocsort dancetrack0008 36.9% 72.1% 18.9% 84.0% 33.5% 68 56 970 113
sushitrack dancetrack0012 31.9% 62.5% 16.3% 74.3% 33.6% 187 82 3083 124
bytetrack dancetrack0012 27.3% 58.1% 12.9% 74.2% 28.0% 198 133 3036 27
ocsort dancetrack0012 31.0% 59.9% 16.1% 70.7% 31.5% 155 82 3585 73
sushitrack dancetrack0015 71.3% 85.0% 59.9% 96.8% 75.7% 11 11 324 93
bytetrack dancetrack0015 60.1% 80.2% 45.1% 96.6% 68.8% 20 23 318 50
ocsort dancetrack0015 78.2% 85.3% 71.6% 95.4% 87.7% 7 11 477 89
sushitrack dancetrack0016 37.7% 85.2% 16.7% 93.9% 32.0% 42 96 631 66
bytetrack dancetrack0016 27.9% 76.4% 10.2% 93.3% 26.1% 85 128 636 39
ocsort dancetrack0016 47.8% 83.5% 27.4% 91.7% 46.7% 39 82 931 63
sushitrack dancetrack0020 41.9% 59.4% 29.9% 72.6% 46.0% 322 455 4751 440
bytetrack dancetrack0020 40.6% 57.1% 29.4% 72.4% 45.2% 302 796 4461 331
ocsort dancetrack0020 42.6% 57.4% 32.0% 69.9% 47.6% 298 556 5214 405
sushitrack dancetrack0023 34.0% 65.8% 17.6% 80.5% 34.5% 136 131 2268 96
bytetrack dancetrack0023 35.9% 59.6% 21.7% 79.3% 39.9% 123 366 2204 23
ocsort dancetrack0023 36.5% 61.6% 21.7% 76.0% 39.7% 128 447 2551 97
sushitrack dancetrack0024 65.0% 75.6% 55.9% 94.5% 77.6% 12 21 213 67
bytetrack dancetrack0024 55.1% 70.2% 43.3% 90.8% 75.0% 13 115 288 37
ocsort dancetrack0024 67.7% 76.0% 60.3% 93.3% 79.6% 11 14 277 70
sushitrack dancetrack0027 41.2% 59.9% 28.4% 71.7% 47.0% 45 42 889 97
bytetrack dancetrack0027 42.7% 59.8% 30.5% 76.0% 51.9% 45 53 729 57
ocsort dancetrack0027 45.4% 60.4% 34.3% 71.7% 52.3% 39 58 877 100
sushitrack dancetrack0029 38.8% 74.5% 20.2% 90.0% 34.9% 47 44 697 67
bytetrack dancetrack0029 41.3% 67.9% 25.3% 89.5% 48.1% 44 115 666 46
ocsort dancetrack0029 41.7% 72.0% 24.2% 85.7% 40.6% 46 77 1007 63
sushitrack dancetrack0032 35.8% 60.7% 21.1% 70.6% 36.3% 36 47 906 53
bytetrack dancetrack0032 31.6% 56.8% 17.7% 71.1% 35.3% 44 55 871 13
ocsort dancetrack0032 36.6% 60.7% 22.0% 70.8% 38.5% 35 44 901 82
sushitrack dancetrack0033 33.3% 63.0% 17.7% 75.5% 37.8% 117 317 1097 99
bytetrack dancetrack0033 26.0% 58.6% 11.5% 73.8% 29.5% 134 414 1089 20
ocsort dancetrack0033 33.8% 61.3% 18.7% 69.0% 38.0% 108 533 1292 55
sushitrack dancetrack0037 35.2% 73.6% 16.9% 85.3% 33.9% 80 177 965 79
bytetrack dancetrack0037 29.8% 66.3% 13.4% 82.8% 28.4% 93 297 1035 49
ocsort dancetrack0037 35.0% 71.2% 17.2% 82.8% 34.9% 74 208 1149 71
sushitrack dancetrack0039 47.0% 84.7% 26.2% 94.8% 43.0% 27 17 273 53
bytetrack dancetrack0039 51.2% 78.1% 33.6% 94.2% 54.2% 33 47 275 17
ocsort dancetrack0039 60.1% 84.0% 43.0% 93.3% 59.4% 23 19 365 75
sushitrack dancetrack0044 23.5% 59.0% 9.4% 71.2% 22.6% 378 606 2874 178
bytetrack dancetrack0044 22.4% 56.8% 8.9% 68.2% 23.4% 572 1438 2254 90
ocsort dancetrack0044 21.3% 55.0% 8.3% 64.4% 19.8% 354 1170 3244 167
sushitrack dancetrack0045 35.3% 65.3% 19.2% 81.7% 36.5% 220 105 2564 152
bytetrack dancetrack0045 30.7% 61.8% 15.3% 81.1% 34.1% 218 368 2407 36
ocsort dancetrack0045 31.8% 63.1% 16.0% 77.3% 35.7% 185 139 3270 134
sushitrack dancetrack0049 39.3% 70.6% 21.9% 83.8% 39.8% 93 152 1299 87
bytetrack dancetrack0049 28.3% 63.0% 12.8% 80.9% 28.3% 108 369 1339 22
ocsort dancetrack0049 34.0% 62.9% 18.4% 70.6% 34.4% 85 1060 1652 61
sushitrack dancetrack0051 44.5% 67.9% 29.3% 82.3% 45.9% 99 18 1796 96
bytetrack dancetrack0051 32.4% 63.8% 16.5% 80.9% 34.6% 118 112 1834 23
ocsort dancetrack0051 41.8% 67.6% 25.9% 78.4% 41.0% 92 23 2215 59
sushitrack dancetrack0052 46.6% 79.1% 27.5% 90.7% 46.5% 27 34 353 46
bytetrack dancetrack0052 41.5% 71.9% 24.0% 90.2% 47.0% 32 83 322 15
ocsort dancetrack0052 51.7% 77.9% 34.3% 89.3% 55.4% 19 36 423 58
sushitrack dancetrack0053 35.4% 69.9% 18.0% 81.9% 37.0% 71 500 506 68
bytetrack dancetrack0053 22.6% 57.1% 9.0% 68.6% 20.8% 95 1001 776 22
ocsort dancetrack0053 32.4% 65.4% 16.1% 72.6% 31.2% 55 979 595 42
sushitrack dancetrack0055 38.5% 72.6% 20.4% 88.0% 36.3% 68 153 479 60
bytetrack dancetrack0055 23.9% 60.7% 9.5% 75.0% 22.9% 84 637 733 30
ocsort dancetrack0055 37.2% 68.4% 20.3% 79.2% 34.3% 52 556 603 69
sushitrack dancetrack0057 51.3% 73.2% 36.0% 88.4% 62.8% 29 75 245 61
bytetrack dancetrack0057 40.4% 64.9% 25.2% 83.0% 54.5% 37 162 311 19
ocsort dancetrack0057 49.2% 73.0% 33.2% 85.6% 58.2% 19 86 328 64
sushitrack dancetrack0061 37.2% 75.5% 18.4% 94.1% 39.1% 32 42 283 54
bytetrack dancetrack0061 31.9% 67.3% 15.1% 88.3% 36.2% 24 245 432 36
ocsort dancetrack0061 53.3% 74.5% 38.1% 89.3% 59.8% 30 228 387 65
sushitrack dancetrack0062 36.6% 76.8% 17.4% 91.0% 32.9% 52 28 483 56
bytetrack dancetrack0062 32.3% 64.8% 16.1% 81.9% 34.0% 62 334 733 28
ocsort dancetrack0062 39.8% 75.3% 21.0% 89.1% 40.7% 41 44 596 65
sushitrack dancetrack0066 46.2% 76.2% 28.0% 92.2% 51.1% 44 23 401 57
bytetrack dancetrack0066 32.6% 67.5% 15.8% 87.5% 42.6% 60 173 516 23
ocsort dancetrack0066 44.7% 76.0% 26.3% 89.2% 46.1% 26 37 584 72
sushitrack dancetrack0068 29.6% 68.4% 12.8% 83.5% 27.4% 99 43 851 58
bytetrack dancetrack0068 24.5% 57.3% 10.5% 74.9% 25.6% 147 330 1028 28
ocsort dancetrack0068 29.0% 65.8% 12.8% 75.6% 26.0% 94 288 1081 79
sushitrack dancetrack0069 66.8% 87.7% 50.8% 97.2% 68.9% 10 7 217 63
bytetrack dancetrack0069 47.9% 78.3% 29.3% 96.7% 55.0% 18 34 218 34
ocsort dancetrack0069 60.8% 87.5% 42.2% 96.1% 64.4% 10 18 298 60
sushitrack dancetrack0072 34.1% 60.2% 19.4% 67.9% 35.9% 69 1080 744 75
bytetrack dancetrack0072 21.1% 50.1% 8.9% 53.0% 22.0% 96 1682 1000 19
ocsort dancetrack0072 33.9% 55.2% 20.8% 56.0% 35.0% 53 1714 830 48
sushitrack dancetrack0074 50.3% 77.0% 32.9% 89.0% 50.8% 24 126 433 58
bytetrack dancetrack0074 42.7% 70.2% 26.0% 87.7% 48.3% 25 203 425 12
ocsort dancetrack0074 49.9% 75.9% 32.8% 87.4% 49.9% 21 131 517 29
sushitrack dancetrack0075 47.3% 68.1% 33.0% 80.7% 51.5% 28 85 937 67
bytetrack dancetrack0075 48.7% 68.2% 34.7% 81.3% 56.1% 17 142 860 15
ocsort dancetrack0075 56.5% 71.1% 44.9% 81.1% 67.0% 19 119 888 33
sushitrack dancetrack0080 71.8% 79.9% 64.5% 94.8% 81.5% 36 28 561 112
bytetrack dancetrack0080 64.0% 70.3% 58.2% 92.1% 83.1% 28 251 675 77
ocsort dancetrack0080 74.2% 80.5% 68.5% 93.6% 86.8% 26 126 620 149
sushitrack dancetrack0082 67.6% 79.9% 57.1% 94.3% 74.0% 63 16 630 243
bytetrack dancetrack0082 52.8% 73.5% 38.0% 93.8% 61.2% 108 69 593 57
ocsort dancetrack0082 64.4% 78.8% 52.7% 92.3% 71.2% 77 38 839 129
sushitrack dancetrack0083 57.1% 79.8% 40.9% 95.7% 60.7% 60 64 523 305
bytetrack dancetrack0083 48.5% 68.4% 34.5% 86.6% 55.7% 67 816 1120 88
ocsort dancetrack0083 49.8% 78.5% 31.6% 93.5% 51.1% 84 130 762 329
sushitrack dancetrack0086 39.8% 64.4% 24.6% 76.5% 41.0% 96 843 1294 215
bytetrack dancetrack0086 39.7% 59.1% 26.7% 73.8% 47.7% 80 1149 1256 141
ocsort dancetrack0086 44.8% 58.2% 34.6% 64.6% 50.7% 87 1666 1606 325
sushitrack dancetrack0087 40.5% 65.0% 25.4% 81.5% 43.6% 134 119 1724 122
bytetrack dancetrack0087 35.3% 58.7% 21.3% 76.7% 39.6% 132 493 1864 61
ocsort dancetrack0087 38.9% 63.7% 23.9% 79.1% 42.2% 107 128 1998 160
sushitrack dancetrack0096 62.3% 68.8% 56.6% 82.6% 73.7% 116 628 2002 346
bytetrack dancetrack0096 52.3% 58.8% 46.6% 77.3% 66.0% 157 1357 2077 237
ocsort dancetrack0096 56.3% 62.1% 51.2% 72.0% 65.4% 138 1694 2588 283
sushitrack dancetrack0098 42.3% 75.4% 23.9% 87.5% 41.7% 58 76 917 78
bytetrack dancetrack0098 33.0% 68.0% 16.1% 85.9% 33.8% 82 179 925 19
ocsort dancetrack0098 42.0% 73.5% 24.1% 83.7% 42.2% 65 103 1202 48
sushitrack dancetrack0099 46.9% 69.2% 31.8% 82.0% 50.8% 44 373 698 121
bytetrack dancetrack0099 48.0% 65.9% 35.1% 79.6% 54.4% 55 562 648 63
ocsort dancetrack0099 50.4% 66.4% 38.4% 76.8% 56.6% 43 584 812 69
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MOT17
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Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
sushitrack MOT17 47.4% 48.2% 47.8% 55.2% 55.7% 2824 7040 185424 190
bytetrack MOT17 44.7% 48.5% 42.4% 55.1% 52.5% 4773 12806 177427 89
ocsort MOT17 44.1% 46.4% 43.2% 53.0% 52.2% 2836 9172 191275 149
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MOT20
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Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
sushitrack MOT20 44.6% 43.9% 50.4% 50.6% 49.5% 2937 13843 1184993 850
bytetrack MOT20 41.9% 42.7% 46.9% 49.9% 46.3% 3680 26843 1184486 575
ocsort MOT20 38.7% 39.0% 41.5% 45.1% 44.0% 2972 29224 1254585 1360
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DanceTrack
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Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
sushitrack DanceTrack 45.0% 72.1% 29.5% 85.2% 47.2% 3250 7326 41998 112
bytetrack DanceTrack 37.9% 65.2% 23.3% 82.0% 42.8% 3863 15913 43195 51
ocsort DanceTrack 45.6% 69.7% 31.1% 80.2% 48.5% 2949 15976 50485 105
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OVERALL
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Tracker Scenario HOTA DetA AssA MOTA IDF1 IDSW FP FN Lat(us)
sushitrack OVERALL 45.8% 60.3% 38.4% 70.5% 50.6% 9011 28209 1412415 218
bytetrack OVERALL 40.8% 56.7% 32.8% 68.7% 46.8% 12316 55562 1405108 120
ocsort OVERALL 44.3% 57.9% 36.7% 66.5% 49.4% 8757 54372 1496345 253
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