Open Access

Evaluating Multiple Object Tracking Performance: The CLEAR MOT Metrics

EURASIP Journal on Image and Video Processing20082008:246309

DOI: 10.1155/2008/246309

Received: 2 November 2007

Accepted: 23 April 2008

Published: 18 May 2008


Simultaneous tracking of multiple persons in real-world environments is an active research field and several approaches have been proposed, based on a variety of features and algorithms. Recently, there has been a growing interest in organizing systematic evaluations to compare the various techniques. Unfortunately, the lack of common metrics for measuring the performance of multiple object trackers still makes it hard to compare their results. In this work, we introduce two intuitive and general metrics to allow for objective comparison of tracker characteristics, focusing on their precision in estimating object locations, their accuracy in recognizing object configurations and their ability to consistently label objects over time. These metrics have been extensively used in two large-scale international evaluations, the 2006 and 2007 CLEAR evaluations, to measure and compare the performance of multiple object trackers for a wide variety of tracking tasks. Selected performance results are presented and the advantages and drawbacks of the presented metrics are discussed based on the experience gained during the evaluations.

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Authors’ Affiliations

Interactive Systems Lab, Institut für Theoretische Informatik, Universität Karlsruhe


© K. Bernardin and R. Stiefelhagen. 2008

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.