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Accurate and consistent 3D tracking from multiple cameras is a key componentin a vision-based autonomous driving system. It involves modeling 3D dynamicobjects in complex scenes across multiple cameras. This problem is inherentlychallenging due to depth estimation, visual occlusions, appearance ambiguity,etc. Moreover, objects are not consistently associated across time and cameras.To address that, we propose an end-to-end \textbf{MU}lti-camera\textbf{TR}acking framework called MUTR3D. In contrast to prior works, MUTR3Ddoes not explicitly rely on the spatial and appearance similarity of objects.Instead, our method introduces \textit{3D track query} to model spatial andappearance coherent track for each object that appears in multiple cameras andmultiple frames. We use camera transformations to link 3D trackers with theirobservations in 2D images. Each tracker is further refined according to thefeatures that are obtained from camera images. MUTR3D uses a set-to-set loss tomeasure the difference between the predicted tracking results and the groundtruths. Therefore, it does not require any post-processing such as non-maximumsuppression and/or bounding box association. MUTR3D outperformsstate-of-the-art methods by 5.3 AMOTA on the nuScenes dataset. Code isavailable at: \url{https://github.com/a1600012888/MUTR3D}.

MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queries