All in One: Exploring Unified Vision-Language Tracking with Multi-Modal Alignment
Cooperative Medianet Innovation Center（合作媒体创新中心）；Shanghai Jiao Tong University（上海交通大学）；CloudWalk Technology Co., Ltd（云从科技有限公司）；Northwestern Polytechnical University（西北工业大学）；Shenzhen Research Institute of Big Data（深圳大数据研究院）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Shanghai AI Laboratory（上海人工智能实验室）
Chunhui Zhang, Xin Sun, Yiqian Yang, Li Liu, Qiong Liu, Xi Zhou, Yanfeng Wang
Current mainstream vision-language (VL) tracking framework consists of three parts, \ie a visual feature extractor, a language feature extractor, and a fusion model. To pursue better performance, a natural modus operandi for VL tracking is employing customized and heavier unimodal encoders, and multi-modal fusion models. Albeit effective, existing VL trackers separate feature extraction and feature integration, resulting in extracted features that lack semantic guidance and have limited target-aware capability in complex scenarios, \eg similar distractors and extreme illumination. In this work, inspired by the recent success of exploring foundation models with unified architecture for both natural language and computer vision tasks, we propose an All-in-One framework, which learns joint feature extraction and interaction by adopting a unified transformer backbone. Specifically, we mix raw vision and language signals to generate language-injected vision tokens, which we then concatenate before feeding into the unified backbone architecture. This approach achieves feature integration in a unified backbone, removing the need for carefully-designed fusion modules and resulting in a more effective and efficient VL tracking framework. To further improve the learning efficiency, we introduce a multi-modal alignment module based on cross-modal and intra-modal contrastive objectives, providing more reasonable representations for the unified All-in-One transformer backbone. Extensive experiments on five benchmarks, \ie OTB99-L, TNL2K, LaSOT, LaSOT$_{\rm Ext}$ and WebUAV-3M, demonstrate the superiority of the proposed tracker against existing state-of-the-arts on VL tracking. Codes will be made publicly available at https://github.com/983632847/All-in-One.
Cooperative Medianet Innovation Center（合作 medianet 创新中心）；Shanghai Jiao Tong University（上海交通大学）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；CloudWalk Technology Co., Ltd（云从科技股份有限公司）；Shanghai AI Laboratory（上海人工智能实验室）
Learning Progressive Adaptation for Multi-Modal Tracking
School of Artificial Intelligence and Computer Science, Jiangnan University（江南大学人工智能与计算机科学学院）；Centre for Vision, Speech and Signal Processing, University of Surrey（Surrey大学视觉、语音和信号处理中心）
UASTrack: A Unified Adaptive Selection Framework with Modality-Customization in Single Object Tracking
School of Artificial Intelligence and Computer Science, Jiangnan University（江南大学人工智能与计算机科学学院）；Centre for Vision, Speech and Signal Processing, University of Surrey（萨里大学视觉、语音和信号处理中心）
VOVTrack: Exploring the Potentiality in Videos for Open-Vocabulary Object Tracking
College of Intelligence and Computing, Tianjin University（天津大学智能与计算学部）；Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）；City University of Hong Kong（香港城市大学）
Southern University of Science and Technology（南方科技大学）；University of Birmingham（伯明翰大学）；University of Electronic Science and Technology of China（电子科技大学）
Multi-modal tracking gains attention due to its ability to be more accurate and robust in complex scenarios compared to traditional RGB-based tracking. Its key lies in how to fuse multi-modal data and reduce the gap between modalities. However, multi-modal tracking still severely suffers from data deficiency, thus resulting in the insufficient learning of fusion modules. Instead of building such a fusion module, in this paper, we provide a new perspective on multi-modal tracking by attaching importance to the multi-modal visual prompts. We design a novel multi-modal prompt tracker (ProTrack), …
In many visual systems, visual tracking often bases on RGB image sequences, in which some targets are invalid in low-light conditions, and tracking performance is thus affected significantly. Introducing other modalities such as depth and infrared data is an effective way to handle imaging limitations of individual sources, but multi-modal imaging platforms usually require elaborate designs and cannot be applied in many real-world applications at present. Near-infrared (NIR) imaging becomes an essential part of many surveillance cameras, whose imaging is switchable between RGB and NIR based on…
It is counter-intuitive that multi-modality methods based on point cloud and images perform only marginally better or sometimes worse than approaches that solely use point cloud. This paper investigates the reason behind this phenomenon. Due to the fact that multi-modality data augmentation must maintain consistency between point cloud and images, recent methods in this field typically use relatively insufficient data augmentation. This shortage makes their performance under expectation. Therefore, we contribute a pipeline, named transformation flow, to bridge the gap between single and multi-…
Dalian University of Technology（大连理工大学）；Peng Cheng Laboratory（鹏城实验室）
Visible-modal object tracking gives rise to a series of downstream multi-modal tracking tributaries. To inherit the powerful representations of the foundation model, a natural modus operandi for multi-modal tracking is full fine-tuning on the RGB-based parameters. Albeit effective, this manner is not optimal due to the scarcity of downstream data and poor transferability, etc. In this paper, inspired by the recent success of the prompt learning in language models, we develop Visual Prompt multi-modal Tracking (ViPT), which learns the modal-relevant prompts to adapt the frozen pre-trained found…
STNet: Deep Audio-Visual Fusion Network for Robust Speaker Tracking
College of Computer Science and Technology, Taiyuan University of Technology（太原理工大学计算机科学与技术学院）；Peking University（北京大学）；Westlake University（西湖大学）；Westlake Institute for Advanced Study（西湖高等研究院）
The task of RGBT tracking aims to take the complementary advantages from visible spectrum and thermal infrared data to achieve robust visual tracking, and receives more and more attention in recent years. Existing works focus on modality-specific information integration by introducing modality weights to achieve adaptive fusion or learning robust feature representations of different modalities. Although these methods could effectively deploy the modality-specific properties, they ignore the potential values of modality-shared cues as well as instance-aware information, which are crucial for ef…
Existing Visual Object Tracking (VOT) only takes the target area in the first frame as a template. This causes tracking to inevitably fail in fast-changing and crowded scenes, as it cannot account for changes in object appearance between frames. To this end, we revamped the tracking framework with Progressive Context Encoding Transformer Tracker (ProContEXT), which coherently exploits spatial and temporal contexts to predict object motion trajectories. Specifically, ProContEXT leverages a context-aware self-attention module to encode the spatial and temporal context, refining and updating the …
Visual object tracking, as a fundamental task in computer vision, has drawn much attention in recent years. To extend trackers to a wider range of applications, researchers have introduced information from multiple modalities to handle specific scenes, which is a promising research prospect with emerging methods and benchmarks. To provide a thorough review of multi-modal track-ing, we summarize the multi-modal tracking algorithms, especially visible-depth (RGB-D) tracking and visible-thermal (RGB-T) tracking in a unified taxonomy from different aspects. Second, we provide a detailed descriptio…
Unified Single-Stage Transformer Network for Efficient RGB-T Tracking
National Innovation Institute of Defense Technology（国防科技创新研究院）；Tianjin Artificial Intelligence Innovation Center（天津人工智能创新中心）；National University of Defense Technology（国防科技大学）；ShanDong University（山东大学）；Tsinghua University（清华大学）；Peking University（北京大学）；National University of Singapore（新加坡国立大学）；Beijing Institute of Technology（北京理工大学）；Beijing Institute of Basic Medical Sciences（北京基础医学研究所）；Beijing University of Posts and Telecommunications（北京邮电大学）
Peng Cheng Laboratory（鹏城实验室）；Peking University（北京大学）；Anhui University（安徽大学）；University of Science and Technology of China（中国科学技术大学）
Many RGB-T trackers attempt to attain robust feature representation by utilizing an adaptive weighting scheme (or attention mechanism). Different from these works, we propose a new dynamic modality-aware filter generation module (named MFGNet) to boost the message communication between visible and thermal data by adaptively adjusting the convolutional kernels for various input images in practical tracking. Given the image pairs as input, we first encode their features with the backbone network. Then, we concatenate these feature maps and generate dynamic modality-aware filters with two indepen…
UBATrack: Spatio-Temporal State Space Model for General Multi-Modal Tracking
Key Laboratory of Education Blockchain and Intelligent Technology, Ministry of Education, Guangxi Normal University（教育区块链与智能技术重点实验室，教育部，广西师范大学）；Guangxi Key Laboratory of Multi-Source Information Mining and Security, Guangxi Normal University（广西多源信息挖掘与安全重点实验室，广西师范大学）；University Engineering Research Center of Educational Intelligent Technology, Guangxi Normal University（教育智能技术大学工程研究中心，广西师范大学）；Guangxi Key Laboratory of Machine Vision and Intelligent Control, Wuzhou University（广西机器视觉与智能控制重点实验室，梧州大学）
3D multi-object tracking in LiDAR point clouds is a key ingredient for self-driving vehicles. Existing methods are predominantly based on the tracking-by-detection pipeline and inevitably require a heuristic matching step for the detection association. In this paper, we present SimTrack to simplify the hand-crafted tracking paradigm by proposing an end-to-end trainable model for joint detection and tracking from raw point clouds. Our key design is to predict the first-appear location of each object in a given snippet to get the tracking identity and then update the location based on motion est…
A Tri-Modal Dataset and a Baseline System for Tracking Unmanned Aerial Vehicles
School of Artificial Intelligence and Computer Science, Jiangnan University（江南大学人工智能与计算机科学学院）；School of Computer Science and Electronic Engineering and the Centre for Vision, Speech and Signal Processing, University of Surrey（萨里大学计算机科学与电子工程学院及视觉、语音与信号处理中心）
Key Laboratory of Machine Perception, Peking University, Shenzhen Graduate School（北京大学深圳研究生院机器感知重点实验室）；Computer Vision Lab, ETH Zurich（苏黎世联邦理工学院计算机视觉实验室）
Multi-modal fusion is proven to be an effective method to improve the accuracy and robustness of speaker tracking, especially in complex scenarios. However, how to combine the heterogeneous information and exploit the complementarity of multi-modal signals remains a challenging issue. In this paper, we propose a novel Multi-modal Perception Tracker (MPT) for speaker tracking using both audio and visual modalities. Specifically, a novel acoustic map based on spatial-temporal Global Coherence Field (stGCF) is first constructed for heterogeneous signal fusion, which employs a camera model to map …
Classifying the confusing samples in the course of RGBT tracking is a quite challenging problem, which hasn't got satisfied solution. Existing methods only focus on enlarging the boundary between positive and negative samples, however, the structured information of samples might be harmed, e.g., confusing positive samples are closer to the anchor than normal positive samples.To handle this problem, we propose a novel Multi-Modal Multi-Margin Metric Learning framework, named M$^5$L for RGBT tracking in this paper. In particular, we design a multi-margin structured loss to distinguish the confus…
School of Computer Science and Technology, Anhui University（安徽大学计算机科学与技术学院）；School of Electronic and Information Engineering, Anhui University（安徽大学电子与信息工程学院）
Combining traditional RGB cameras with bio-inspired event cameras for robust object tracking has garnered increasing attention in recent years. However, most existing multimodal tracking algorithms depend heavily on high-complexity Vision Transformer architectures for feature extraction and fusion across modalities. This not only leads to substantial computational overhead but also limits the effectiveness of cross-modal interactions. In this paper, we propose an efficient RGB-Event object tracking framework based on the linear-complexity Vision Mamba network, termed Mamba-FETrack V2. Specific…
Robust RGB-T Tracking via Learnable Visual Fourier Prompt Fine-tuning and Modality Fusion Prompt Generation
Key Laboratory of Education Blockchain and Intelligent Technology, Ministry of Education, Guangxi Normal University（教育区块链与智能技术重点实验室，教育部，广西师范大学）；Guangxi Key Lab of Multi-Source Information Mining and Security, Guangxi Normal University（多源信息挖掘与安全广西重点实验室，广西师范大学）
RGBT tracking has attracted increasing attention since RGB and thermal infrared data have strong complementary advantages, which could make trackers all-day and all-weather work. However, how to effectively represent RGBT data for visual tracking remains unstudied well. Existing works usually focus on extracting modality-shared or modality-specific information, but the potentials of these two cues are not well explored and exploited in RGBT tracking. In this paper, we propose a novel multi-adapter network to jointly perform modality-shared, modality-specific and instance-aware target represent…
Adapting SAM 2 for Visual Object Tracking: 1st Place Solution for MMVPR Challenge Multi-Modal Tracking
University of Washington（华盛顿大学）；Electronics and Telecommunications Research Institute（电子电信研究所）；National Center for High-performance Computing（高性能计算国家中心）
Most existing cross-modality person re-identification works rely on discriminative modality-shared features for reducing cross-modality variations and intra-modality variations. Despite some initial success, such modality-shared appearance features cannot capture enough modality-invariant discriminative information due to a massive discrepancy between RGB and infrared images. To address this issue, on the top of appearance features, we further capture the modality-invariant relations among different person parts (referred to as modality-invariant relation features), which are the complement to…
Center for Visual Information Technology, Kohli Center on Intelligent Systems（视觉信息技术中心，科利智能系统中心）；IIIT-Hyderabad（海得拉巴国际信息技术学院）
Recent works have proposed several long term tracking benchmarks and highlight the importance of moving towards long-duration tracking to bridge the gap with application requirements. The current evaluation methodologies, however, do not focus on several aspects that are crucial in a long term perspective like Re-detection, Recovery, and Reliability. In this paper, we propose novel evaluation strategies for a more in-depth analysis of trackers from a long-term perspective. More specifically, (a) we test re-detection capability of the trackers in the wild by simulating virtual cuts, (b) we inve…
With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames given an object template. Motivated by the success of transformers, we propose Point Tracking TRansformer (PTTR), which efficiently predicts high-quality 3D tracking results in a coarse-to-fine manner with the help of transformer operations. PTTR consists of three novel designs. 1) Instead of random sampling, we design Relation-Aware Sampling to preserve rel…
Institute of Robotics and Intelligent Machines（机器人与智能机器研究所）；Georgia Institute of Technology（佐治亚理工学院）
We present an on-line 3D visual object tracking framework for monocular cameras by incorporating spatial knowledge and uncertainty from semantic mapping along with high frequency measurements from visual odometry. Using a combination of vision and odometry that are tightly integrated we can increase the overall performance of object based tracking for semantic mapping. We present a framework for integration of the two data-sources into a coherent framework through information based fusion/arbitration. We demonstrate the framework in the context of OmniMapper[1] and present results on 6 challen…
Tracking many vehicles in wide coverage aerial imagery is crucial for understanding events in a large field of view. Most approaches aim to associate detections from frame differencing into tracks. However, slow or stopped vehicles result in long-term missing detections and further cause tracking discontinuities. Relying merely on appearance clue to recover missing detections is difficult as targets are extremely small and in grayscale. In this paper, we address the limitations of detection association methods by coupling it with a local context tracker (LCT), which does not rely on motion det…
Nanyang Technological University（南洋理工大学）；SenseTime Research（商汤科技研究院）；University of Oxford（牛津大学）
Multi-sensor perception is crucial to ensure the reliability and accuracy in autonomous driving system, while multi-object tracking (MOT) improves that by tracing sequential movement of dynamic objects. Most current approaches for multi-sensor multi-object tracking are either lack of reliability by tightly relying on a single input source (e.g., center camera), or not accurate enough by fusing the results from multiple sensors in post processing without fully exploiting the inherent information. In this study, we design a generic sensor-agnostic multi-modality MOT framework (mmMOT), where each…
Computer Vision Center, Universitat Autonoma de Barcelona（巴塞罗那自治大学计算机视觉中心）；Computer Vision Laboratory, ETH Zürich（苏黎世联邦理工学院计算机视觉实验室）；Inception Institute of Artificial Intelligence（inception人工智能研究院）
We propose an end-to-end tracking framework for fusing the RGB and TIR modalities in RGB-T tracking. Our baseline tracker is DiMP (Discriminative Model Prediction), which employs a carefully designed target prediction network trained end-to-end using a discriminative loss. We analyze the effectiveness of modality fusion in each of the main components in DiMP, i.e. feature extractor, target estimation network, and classifier. We consider several fusion mechanisms acting at different levels of the framework, including pixel-level, feature-level and response-level. Our tracker is trained in an en…
Northwestern Polytechnical University（西北工业大学）；Air Force Engineering University（空军工程大学）；wrnch（wrnch公司）；Nanchang University（南昌大学）
The target representation learned by convolutional neural networks plays an important role in Thermal Infrared (TIR) tracking. Currently, most of the top-performing TIR trackers are still employing representations learned by the model trained on the RGB data. However, this representation does not take into account the information in the TIR modality itself, limiting the performance of TIR tracking. To solve this problem, we propose to distill representations of the TIR modality from the RGB modality with Cross-Modal Distillation (CMD) on a large amount of unlabeled paired RGB-TIR data. We take…
