MOT16: A Benchmark for Multi-Object Tracking
Paper • 1603.00831 • Published
sequence stringclasses 7
values | frame int64 1 1.05k | detector stringclasses 1
value | bbox_left float64 -89.51 1.89k | bbox_top float64 -193.01 1.02k | bbox_width float64 19 519 | bbox_height float64 59 1.56k | score float64 -0.5 4.77 |
|---|---|---|---|---|---|---|---|
MOT17-02 | 1 | DPM | 1,359.1 | 413.27 | 120.26 | 362.77 | 2.3092 |
MOT17-02 | 1 | DPM | 571.03 | 402.13 | 104.56 | 315.68 | 1.5028 |
MOT17-02 | 1 | DPM | 650.8 | 455.86 | 63.98 | 193.94 | 0.33276 |
MOT17-02 | 1 | DPM | 721.23 | 446.86 | 41.871 | 127.61 | 0.27401 |
MOT17-02 | 1 | DPM | 454.06 | 434.36 | 97.492 | 294.47 | 0.20818 |
MOT17-02 | 1 | DPM | 1,254.6 | 446.72 | 33.822 | 103.47 | 0.14776 |
MOT17-02 | 1 | DPM | 1,301.1 | 237.38 | 195.98 | 589.95 | 0.051818 |
MOT17-02 | 1 | DPM | 1,480.3 | 413.27 | 120.26 | 362.77 | -0.020474 |
MOT17-02 | 1 | DPM | 552.72 | 473.9 | 29.314 | 89.943 | -0.087553 |
MOT17-02 | 1 | DPM | 1,097 | 433 | 39 | 119 | -0.17964 |
MOT17-02 | 1 | DPM | 543.19 | 442.1 | 44.948 | 136.84 | -0.3683 |
MOT17-02 | 1 | DPM | 1,017 | 425 | 39 | 119 | -0.41789 |
MOT17-02 | 2 | DPM | 1,359.1 | 413.27 | 120.26 | 362.77 | 2.4731 |
MOT17-02 | 2 | DPM | 584.04 | 446.86 | 84.742 | 256.23 | 1.2369 |
MOT17-02 | 2 | DPM | 729 | 457 | 39 | 119 | 0.40858 |
MOT17-02 | 2 | DPM | 460.48 | 442.1 | 90.896 | 274.69 | 0.26749 |
MOT17-02 | 2 | DPM | 643.66 | 461.78 | 59.629 | 180.89 | 0.18023 |
MOT17-02 | 2 | DPM | 1,494.4 | 408.29 | 112.14 | 338.41 | 0.16075 |
MOT17-02 | 2 | DPM | 572.83 | 364.89 | 128.96 | 388.88 | -0.011851 |
MOT17-02 | 2 | DPM | 1,097 | 433 | 39 | 119 | -0.185 |
MOT17-02 | 2 | DPM | 1,324.3 | 258.31 | 182.79 | 550.38 | -0.18665 |
MOT17-02 | 2 | DPM | 1,021.2 | 436.37 | 31.49 | 96.47 | -0.25086 |
MOT17-02 | 2 | DPM | 549.71 | 476.18 | 27.284 | 83.853 | -0.28739 |
MOT17-02 | 2 | DPM | 545 | 457 | 39 | 119 | -0.30087 |
MOT17-02 | 2 | DPM | 1,254.6 | 446.72 | 33.822 | 103.47 | -0.30663 |
MOT17-02 | 2 | DPM | 935.59 | 429.71 | 41.871 | 127.61 | -0.3541 |
MOT17-02 | 3 | DPM | 1,359.1 | 413.27 | 120.26 | 362.77 | 2.3387 |
MOT17-02 | 3 | DPM | 571.03 | 402.13 | 104.56 | 315.68 | 0.79923 |
MOT17-02 | 3 | DPM | 1,482.5 | 390.88 | 128.96 | 388.88 | 0.35271 |
MOT17-02 | 3 | DPM | 729 | 449 | 39 | 119 | 0.24571 |
MOT17-02 | 3 | DPM | 657.86 | 419 | 73.643 | 222.93 | 0.10792 |
MOT17-02 | 3 | DPM | 454.06 | 454.06 | 97.492 | 294.47 | 0.087458 |
MOT17-02 | 3 | DPM | 1,098.5 | 429.71 | 41.871 | 127.61 | 0.067064 |
MOT17-02 | 3 | DPM | 1,021.2 | 436.37 | 31.49 | 96.47 | -0.18888 |
MOT17-02 | 3 | DPM | 545 | 457 | 39 | 119 | -0.26536 |
MOT17-02 | 3 | DPM | 1,377 | 385 | 159 | 479 | -0.26901 |
MOT17-02 | 3 | DPM | 940.04 | 436.58 | 27.284 | 83.853 | -0.2915 |
MOT17-02 | 3 | DPM | 1,254.6 | 446.72 | 33.822 | 103.47 | -0.36048 |
MOT17-02 | 3 | DPM | 937 | 433 | 39 | 119 | -0.3765 |
MOT17-02 | 3 | DPM | 1,352.6 | 52.984 | 258.92 | 778.76 | -0.40418 |
MOT17-02 | 4 | DPM | 1,383.3 | 413.27 | 120.26 | 362.77 | 2.2104 |
MOT17-02 | 4 | DPM | 591.95 | 434.36 | 97.492 | 294.47 | 0.93138 |
MOT17-02 | 4 | DPM | 1,480.3 | 413.27 | 120.26 | 362.77 | 0.65959 |
MOT17-02 | 4 | DPM | 460.48 | 442.1 | 90.896 | 274.69 | 0.29162 |
MOT17-02 | 4 | DPM | 657.86 | 419 | 73.643 | 222.93 | 0.26373 |
MOT17-02 | 4 | DPM | 729.81 | 446.86 | 41.871 | 127.61 | 0.16692 |
MOT17-02 | 4 | DPM | 1,098.5 | 429.71 | 41.871 | 127.61 | 0.013892 |
MOT17-02 | 4 | DPM | 1,254.6 | 446.72 | 33.822 | 103.47 | -0.14386 |
MOT17-02 | 4 | DPM | 544.06 | 385.67 | 112.14 | 338.41 | -0.1824 |
MOT17-02 | 4 | DPM | 1,017 | 425 | 39 | 119 | -0.2104 |
MOT17-02 | 4 | DPM | 936.71 | 436.37 | 31.49 | 96.47 | -0.23005 |
MOT17-02 | 4 | DPM | 1,338.6 | 343.97 | 170.48 | 513.45 | -0.44958 |
MOT17-02 | 4 | DPM | 1,352.6 | 52.984 | 258.92 | 778.76 | -0.47 |
MOT17-02 | 5 | DPM | 1,383.3 | 413.27 | 120.26 | 362.77 | 2.4296 |
MOT17-02 | 5 | DPM | 584.04 | 446.86 | 84.742 | 256.23 | 0.82707 |
MOT17-02 | 5 | DPM | 1,480.3 | 413.27 | 120.26 | 362.77 | 0.80295 |
MOT17-02 | 5 | DPM | 643.66 | 461.78 | 59.629 | 180.89 | 0.74373 |
MOT17-02 | 5 | DPM | 460.48 | 442.1 | 90.896 | 274.69 | 0.15626 |
MOT17-02 | 5 | DPM | 729.81 | 446.86 | 41.871 | 127.61 | 0.1188 |
MOT17-02 | 5 | DPM | 1,098.5 | 429.71 | 41.871 | 127.61 | 0.01459 |
MOT17-02 | 5 | DPM | 1,254.6 | 446.72 | 33.822 | 103.47 | -0.14461 |
MOT17-02 | 5 | DPM | 936.71 | 436.37 | 31.49 | 96.47 | -0.16139 |
MOT17-02 | 5 | DPM | 572.83 | 364.89 | 128.96 | 388.88 | -0.2191 |
MOT17-02 | 5 | DPM | 1,017 | 425 | 39 | 119 | -0.30016 |
MOT17-02 | 5 | DPM | 1,310.9 | 394.97 | 48.246 | 146.74 | -0.31019 |
MOT17-02 | 5 | DPM | 1,352.6 | 52.984 | 258.92 | 778.76 | -0.45817 |
MOT17-02 | 6 | DPM | 1,407.6 | 413.27 | 120.26 | 362.77 | 2.6371 |
MOT17-02 | 6 | DPM | 589.13 | 442.1 | 90.896 | 274.69 | 1.0225 |
MOT17-02 | 6 | DPM | 1,480.3 | 413.27 | 120.26 | 362.77 | 0.87614 |
MOT17-02 | 6 | DPM | 460.48 | 442.1 | 90.896 | 274.69 | 0.29989 |
MOT17-02 | 6 | DPM | 729.81 | 446.86 | 41.871 | 127.61 | 0.18144 |
MOT17-02 | 6 | DPM | 669.79 | 506.88 | 41.871 | 127.61 | 0.09358 |
MOT17-02 | 6 | DPM | 1,254.6 | 446.72 | 33.822 | 103.47 | 0.071156 |
MOT17-02 | 6 | DPM | 1,098.5 | 429.71 | 41.871 | 127.61 | -0.000019 |
MOT17-02 | 6 | DPM | 657.86 | 419 | 73.643 | 222.93 | -0.023115 |
MOT17-02 | 6 | DPM | 1,017 | 425 | 39 | 119 | -0.22069 |
MOT17-02 | 6 | DPM | 1,372.9 | 343.97 | 170.48 | 513.45 | -0.25278 |
MOT17-02 | 6 | DPM | 937 | 433 | 39 | 119 | -0.33209 |
MOT17-02 | 6 | DPM | 546.83 | 338.9 | 128.96 | 388.88 | -0.33645 |
MOT17-02 | 6 | DPM | 1,352.6 | 52.984 | 258.92 | 778.76 | -0.48654 |
MOT17-02 | 7 | DPM | 1,393.9 | 391.01 | 138.29 | 416.86 | 2.5629 |
MOT17-02 | 7 | DPM | 591.95 | 434.36 | 97.492 | 294.47 | 1.4242 |
MOT17-02 | 7 | DPM | 1,504.6 | 413.27 | 120.26 | 362.77 | 0.77958 |
MOT17-02 | 7 | DPM | 454.06 | 434.36 | 97.492 | 294.47 | 0.48616 |
MOT17-02 | 7 | DPM | 1,254.6 | 446.72 | 33.822 | 103.47 | 0.35682 |
MOT17-02 | 7 | DPM | 657.86 | 419 | 73.643 | 222.93 | 0.32016 |
MOT17-02 | 7 | DPM | 729.81 | 446.86 | 41.871 | 127.61 | 0.24489 |
MOT17-02 | 7 | DPM | 1,016.1 | 426.46 | 36.321 | 110.96 | -0.035711 |
MOT17-02 | 7 | DPM | 546.83 | 338.9 | 128.96 | 388.88 | -0.18266 |
MOT17-02 | 7 | DPM | 1,098.5 | 429.71 | 41.871 | 127.61 | -0.33424 |
MOT17-02 | 7 | DPM | 1,305.9 | 405.34 | 44.948 | 136.84 | -0.34036 |
MOT17-02 | 7 | DPM | 934.23 | 432.79 | 33.822 | 103.47 | -0.34617 |
MOT17-02 | 8 | DPM | 1,404.6 | 390.88 | 128.96 | 388.88 | 2.3462 |
MOT17-02 | 8 | DPM | 591.95 | 434.36 | 97.492 | 294.47 | 1.6316 |
MOT17-02 | 8 | DPM | 1,504.6 | 413.27 | 120.26 | 362.77 | 1.5336 |
MOT17-02 | 8 | DPM | 729.81 | 446.86 | 41.871 | 127.61 | 0.45047 |
MOT17-02 | 8 | DPM | 1,255 | 441.39 | 36.321 | 110.96 | 0.39539 |
MOT17-02 | 8 | DPM | 454.06 | 434.36 | 97.492 | 294.47 | 0.36475 |
MOT17-02 | 8 | DPM | 657.86 | 419 | 73.643 | 222.93 | 0.11883 |
MOT17-02 | 8 | DPM | 1,441 | 353 | 159 | 479 | -0.05882 |
Multi-Object Tracking Benchmark (MOTChallenge) in a de-duplicated, Parquet-native layout.
mot17-parquet/
├── data/
│ ├── frames/ # frame metadata (one row per image)
│ │ ├── train-00000-of-00001.parquet
│ │ ├── test-00000-of-00001.parquet
│ │ └── ablation-00000-of-00001.parquet
│ ├── gt/ # ground-truth annotations (train only)
│ │ ├── train-00000-of-00001.parquet
│ │ └── ablation-00000-of-00001.parquet
│ ├── detections/ # public detections, one subfolder per detector
│ │ ├── dpm/
│ │ ├── frcnn/
│ │ └── sdp/
│ └── seqinfo/
│ └── seqinfo.parquet
├── images/
│ ├── train/
│ │ ├── MOT17-02/img1/000001.jpg
│ │ └── ...
│ └── test/
│ ├── MOT17-01/img1/000001.jpg
│ └── ...
└── tools/
└── export_motchallenge_layout.py
| Split | Description |
|---|---|
train |
Full training sequences (MOT17-02, 04, 05, 09, 10, 11, 13) |
test |
Official test sequences (MOT17-01, 03, 06, 07, 08, 12, 14) – no GT |
ablation |
Second half of each training sequence (ByteTrack convention) |
dpm, frcnn, sdp.frame >= seqLength // 2 + 1).| Column | Type | Description |
|---|---|---|
| sequence | str | e.g. MOT17-02 |
| frame | int | 1-based frame number |
| image_path | str | relative path to image file |
| width | int | frame width |
| height | int | frame height |
| fps | int | sequence frame rate |
| seq_length | int | total frames in sequence |
| Column | Type | Description |
|---|---|---|
| sequence | str | e.g. MOT17-02 |
| frame | int | 1-based frame number |
| track_id | int | identity |
| bbox_left | float | bounding box left |
| bbox_top | float | bounding box top |
| bbox_width | float | bounding box width |
| bbox_height | float | bounding box height |
| conf | float | confidence (1 for GT) |
| class_id | int | object class |
| visibility | float | occlusion ratio |
| Column | Type | Description |
|---|---|---|
| sequence | str | e.g. MOT17-02 |
| detector | str | DPM, FRCNN, or SDP |
| frame | int | 1-based frame number |
| bbox_left | float | bounding box left |
| bbox_top | float | bounding box top |
| bbox_width | float | bounding box width |
| bbox_height | float | bounding box height |
| score | float | detection confidence |
from datasets import load_dataset
# Load GT for train
gt = load_dataset("Lekim89/mot17-parquet", "gt", split="train")
# Load FRCNN detections for ablation
frcnn = load_dataset("Lekim89/mot17-parquet", "detections-frcnn", split="ablation")
# Load frame metadata
frames = load_dataset("Lekim89/mot17-parquet", "frames", split="train")
from huggingface_hub import snapshot_download
root = snapshot_download(
repo_id="Lekim89/mot17-parquet",
repo_type="dataset",
allow_patterns=[
"images/train/MOT17-02/**",
"data/gt/train-*.parquet",
"data/detections/frcnn/train-*.parquet",
],
)
@article{MOT16,
title={MOT16: A Benchmark for Multi-Object Tracking},
author={Milan, A. and Leal-Taix{\'e}, L. and Reid, I. and Roth, S. and Schindler, K.},
journal={arXiv:1603.00831},
year={2016}
}