*Article* **Multiple Object Tracking in Robotic Applications: Trends and Challenges**

**Abdalla Gad 1,†, Tasnim Basmaji 1,†, Maha Yaghi 1, Huda Alheeh 1,2, Mohammad Alkhedher <sup>3</sup> and Mohammed Ghazal 1,\***


**Abstract:** The recent advancement in autonomous robotics is directed toward designing a reliable system that can detect and track multiple objects in the surrounding environment for navigation and guidance purposes. This paper aims to survey the recent development in this area and present the latest trends that tackle the challenges of multiple object tracking, such as heavy occlusion, dynamic background, and illumination changes. Our research includes Multiple Object Tracking (MOT) methods incorporating the multiple inputs that can be perceived from sensors such as cameras and Light Detection and Ranging (LIDAR). In addition, a summary of the tracking techniques, such as data association and occlusion handling, is detailed to define the general framework that the literature employs. We also provide an overview of the metrics and the most common benchmark datasets, including Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI), MOTChallenges, and University at Albany DEtection and TRACking (UA-DETRAC), that are used to train and evaluate the performance of MOT. At the end of this paper, we discuss the results gathered from the articles that introduced the methods. Based on our analysis, deep learning has introduced significant value to the MOT techniques in recent research, resulting in high accuracy while maintaining real-time processing.

**Keywords:** multiple object tracking; MOT; self-driving; autonomous vehicle; autonomous navigation; SLAM; KITTI; MOTChallenges; MOT15; MOT16; MOT17; UA\_DETRAC
