Single object tracking aims to localize target object with specific reference modalities (bounding box, natural language or both) in a sequence of specific video modalities (RGB, RGB+Depth, RGB+Thermal or RGB+Event.). Different reference modalities enable various human-machine interactions, and different video modalities are demanded in complex scenarios to enhance tracking robustness. Existing trackers are designed for single or several video modalities with single or several reference modalities, which leads to separate model designs and limits practical applications. Practically, a unified tracker is needed to handle various requirements. To the best of our knowledge, there is still no tracker that can perform tracking with these above reference modalities across these video modalities simultaneously. Thus, in this paper, we present a unified tracker, UniSOT, for different combinations of three reference modalities and four video modalities with uniform parameters. Extensive experimental results on 18 visual tracking, vision-language tracking and RGB+X tracking benchmarks demonstrate that UniSOT shows superior performance against modality-specific counterparts. Notably, UniSOT outperforms previous counterparts by over 3.0\% AUC on TNL2K across all three reference modalities and outperforms Un-Track by over 2.0\% main metric across all three RGB+X video modalities.
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）
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…
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）
With the development of depth sensors in recent years, RGBD object tracking has received significant attention. Compared with the traditional RGB object tracking, the addition of the depth modality can effectively solve the target and background interference. However, some existing RGBD trackers use the two modalities separately and thus some particularly useful shared information between them is ignored. On the other hand, some methods attempt to fuse the two modalities by treating them equally, resulting in the missing of modality-specific features. To tackle these limitations, we propose a …
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…
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…
End-to-End Self-Supervised RGB-T Tracking without Modality Misleading
China University of Mining and Technology（中国矿业大学）；Mine Digitization Engineering Research Center of the Ministry of Education（矿山数字化教育部工程研究中心）；University of Auckland（奥克兰大学）
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…
Online 3D multi-object tracking (MOT) has witnessed significant research interest in recent years, largely driven by demand from the autonomous systems community. However, 3D offline MOT is relatively less explored. Labeling 3D trajectory scene data at a large scale while not relying on high-cost human experts is still an open research question. In this work, we propose Batch3DMOT which follows the tracking-by-detection paradigm and represents real-world scenes as directed, acyclic, and category-disjoint tracking graphs that are attributed using various modalities such as camera, LiDAR, and ra…
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…
German Aerospace Center（德国航空航天中心）；Technical University of Munich（慕尼黑工业大学）；Vienna University of Technology（维也纳技术大学）
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and geometry to estimate object poses. The algorithm extends our previous method ICG, which uses geometry, to additionally consider surface appearance. In general, object surfaces contain local characteristics from text, graphics, and patterns, as well as global differences from distinct materials and colors. To incorporate this visual information, two modalities are …
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）
VisEvent: Reliable Object Tracking via Collaboration of Frame and Event Flows
Anhui University（安徽大学）；Peng Cheng Laboratory（鹏城实验室）；Peking University（北京大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）；The University of Sydney（悉尼大学）；La Trobe University（乐卓博大学）；University of Science and Technology of China（中国科学技术大学）
Unifying Visual and Vision-Language Tracking via Contrastive Learning
Deep Space Exploration Laboratory（深空探测实验室）；University of Science and Technology of China（中国科学技术大学）；Intelligent Science Technology Academy of CASIC（中国航天科工集团智能科学技术研究院）
Visual object tracking with RGB and thermal infrared (TIR) spectra available, shorted in RGBT tracking, is a novel and challenging research topic which draws increasing attention nowadays. In this paper, we propose an RGBT tracker which takes spatio-temporal clues into account for robust appearance model learning, and simultaneously, constructs an adaptive fusion sub-network for cross-modal interactions. Unlike most existing RGBT trackers that implement object tracking tasks with only spatial information included, temporal information is further considered in this method. Specifically, differe…
Referring Video Object Segmentation with Cross-Modality Proxy Queries
DUT-RU International School of Information Science & Engineering, Dalian University of Technology, China（大连理工大学国际信息科学与工程学院，中国）；Chinese University of Hong Kong, China（香港中文大学，中国）；University of Sydney, Australia（悉尼大学，澳大利亚）
UniMergeTrack: Hierarchical Model Merging for General RGB-X Visual Object Tracking
School of Computer Science and Technology, Anhui University（安徽大学计算机科学与技术学院）；Peng Cheng Laboratory（鹏城实验室）；School of Computer Science, Peking University（北京大学计算机学院）；School of Electronic and Computer Engineering, Shenzhen Graduate School, Peking University（北京大学深圳研究生院电子与计算机工程学院）
Learning Frequency and Memory-Aware Prompts for Multi-Modal Object Tracking
State Key Laboratory for Novel Software Technology（新型软件技术国家重点实验室）；School of Information Science and Engineering（信息科学与工程学院）；School of Mathematics（数学学院）；Purple Mountain Laboratories（紫金山实验室）
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）
Tracking by natural language specification is a new rising research topic that aims at locating the target object in the video sequence based on its language description. Compared with traditional bounding box (BBox) based tracking, this setting guides object tracking with high-level semantic information, addresses the ambiguity of BBox, and links local and global search organically together. Those benefits may bring more flexible, robust and accurate tracking performance in practical scenarios. However, existing natural language initialized trackers are developed and compared on benchmark dat…
Active Adversarial Perturbation-driven Associative Memory Retrieval for RGB-Event Visual Object Tracking
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（安徽大学电子信息工程学院）；Peng Cheng Laboratory（鹏城实验室）；Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；School of Computer Science, Peking University（北京大学计算机学院）；School of Electronic and Computer Engineering, Shenzhen Graduate School, Peking University（北京大学深圳研究生院电子与计算机工程学院）
Tampere University（坦佩雷大学）；University of Birmingham（伯明翰大学）
Depth (D) indicates occlusion and is less sensitive to illumination changes, which make depth attractive modality for Visual Object Tracking (VOT). Depth is used in RGBD object tracking where the best trackers are deep RGB trackers with additional heuristic using depth maps. There are two potential reasons for the heuristics: 1) the lack of large RGBD tracking datasets to train deep RGBD trackers and 2) the long-term evaluation protocol of VOT RGBD that benefits from heuristics such as depth-based occlusion detection. In this work, we study how far D-only tracking can go if trained with large …
Decoupling Amplitude and Phase Attention in Frequency Domain for RGB-Event based Visual Object Tracking
School of Computer Science and Technology, Anhui University（安徽大学计算机科学与技术学院）；Northeastern University（东北大学）；Beijing Institute of Technology（北京理工大学）；School of Computer and Communication Engineering, University of Science and Technology Beijing（北京科技大学计算机与通信工程学院）；Peng Cheng Laboratory（鹏城实验室）；National Key Laboratory for Multimedia Information Processing, School of Computer Science, Peking University（北京大学多媒体信息处理国家重点实验室）；School of Electronic and Computer Engineering, Shenzhen Graduate School, Peking University（北京大学深圳研究生院电子与计算机工程学院）
SwiTrack: Tri-State Switch for Cross-Modal Object Tracking
State Key Laboratory for Novel Software Technology, Nanjing University（南京大学新型软件技术国家重点实验室）；School of Information Science and Engineering, Yunnan University（云南大学信息科学与工程学院）；School of Mathematics, Southeast University（东南大学数学学院）；Purple Mountain Laboratories（紫金山实验室）
Shanghai Jiao Tong University（上海交通大学）；The Second Academy of China Aerospace Science And Industry Corporation（中国航天科工集团第二研究院）
Multiple object tracking (MOT) is a significant task in achieving autonomous driving. Traditional works attempt to complete this task, either based on point clouds (PC) collected by LiDAR, or based on images captured from cameras. However, relying on one single sensor is not robust enough, because it might fail during the tracking process. On the other hand, feature fusion from multiple modalities contributes to the improvement of accuracy. As a result, new techniques based on different sensors integrating features from multiple modalities are being developed. Texture information from RGB came…
This paper investigates how to perform robust visual tracking in adverse and challenging conditions using complementary visual and thermal infrared data (RGBT tracking). We propose a novel deep network architecture called qualityaware Feature Aggregation Network (FANet) for robust RGBT tracking. Unlike existing RGBT trackers, our FANet aggregates hierarchical deep features within each modality to handle the challenge of significant appearance changes caused by deformation, low illumination, background clutter and occlusion. In particular, we employ the operations of max pooling to transform th…
We present an online visual tracking algorithm by managing multiple target appearance models in a tree structure. The proposed algorithm employs Convolutional Neural Networks (CNNs) to represent target appearances, where multiple CNNs collaborate to estimate target states and determine the desirable paths for online model updates in the tree. By maintaining multiple CNNs in diverse branches of tree structure, it is convenient to deal with multi-modality in target appearances and preserve model reliability through smooth updates along tree paths. Since multiple CNNs share all parameters in conv…
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）
MEX: Memory-efficient Approach to Referring Multi-Object Tracking
University of Science（科学大学）；Vietnam National University, Ho Chi Minh City（越南国家大学，胡志明市）；Department of Computer Science and Computer Engineering（计算机科学与工程系）
Beijing Jiaotong University（北京交通大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of North Texas（北得克萨斯大学）
Relying on Transformer for complex visual feature learning, object tracking has witnessed the new standard for state-of-the-arts (SOTAs). However, this advancement accompanies by larger training data and longer training period, making tracking increasingly expensive. In this paper, we demonstrate that the Transformer-reliance is not necessary and the pure ConvNets are still competitive and even better yet more economical and friendly in achieving SOTA tracking. Our solution is to unleash the power of multimodal vision-language (VL) tracking, simply using ConvNets. The essence lies in learning …
Anhui University（安徽大学）；Texas State University（得克萨斯州立大学）
RGB-Thermal (RGB-T) object tracking receives more and more attention due to the strongly complementary benefits of thermal information to visible data. However, RGB-T research is limited by lacking a comprehensive evaluation platform. In this paper, we propose a large-scale video benchmark dataset for RGB-T tracking.It has three major advantages over existing ones: 1) Its size is sufficiently large for large-scale performance evaluation (total frame number: 234K, maximum frame per sequence: 8K). 2) The alignment between RGB-T sequence pairs is highly accurate, which does not need pre- or post-…
Boston University（波士顿大学）；Hikvision Research America（海康威视美国研究院）；Horizon Robotics（地平线机器人）；University of Chinese Academy of Sciences（中国科学院大学）
In recent years, deep-learning-based visual object trackers have been studied thoroughly, but handling occlusions and/or rapid motion of the target remains challenging. In this work, we argue that conditioning on the natural language (NL) description of a target provides information for longer-term invariance, and thus helps cope with typical tracking challenges. However, deriving a formulation to combine the strengths of appearance-based tracking with the language modality is not straightforward. We propose a novel deep tracking-by-detection formulation that can take advantage of NL descripti…
How Texts Help? A Fine-grained Evaluation to Reveal the Role of Language in Vision-Language Tracking
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；School of Computer Science and Technology, University of Chinese Academy of Sciences（中国科学院大学计算机科学与技术学院）；CAS Center for Excellence in Brain Science and Intelligence Technology（中国科学院脑科学与智能技术卓越创新中心）；School of Physical and Mathematical Sciences, Nanyang Technological University（南洋理工大学物理与数学科学学院）
DMTrack: Spatio-Temporal Multimodal Tracking via Dual-Adapter
Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences（中国科学院大学杭州高等研究院）；Institute of Software, Chinese Academy of Sciences（中国科学院软件研究所）；Department of Computer Science and Engineering, University of North Texas（北卡罗来纳州立大学计算机科学与工程系）；OPPO AI Center（OPPO人工智能中心）
3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work uses a standard tracking-by-detection pipeline, where feature extraction is first performed independently for each object in order to compute an affinity matrix. Then the affinity matrix is passed to the Hungarian algorithm for data association. A key process of this standard pipeline is to learn discriminative features for different objects in order to reduce confusion during data association. In this work, we propose two techniques to improve the discriminative feature learning for MOT: (1) instead of obtaining feat…
3D multi-object tracking is a crucial component in the perception system of autonomous driving vehicles. Tracking all dynamic objects around the vehicle is essential for tasks such as obstacle avoidance and path planning. Autonomous vehicles are usually equipped with different sensor modalities to improve accuracy and reliability. While sensor fusion has been widely used in object detection networks in recent years, most existing multi-object tracking algorithms either rely on a single input modality, or do not fully exploit the information provided by multiple sensing modalities. In this work…
XTrack: Multimodal Training Boosts RGB-X Video Object Trackers
University of Wurzburg（维尔茨堡大学）；INSAIT, Sofia University（保加利亚索菲亚大学INSAIT研究所）；ETH Zurich（苏黎世联邦理工学院）；AI Institute, Shanghai Jiao Tong University（上海交通大学AI研究院）
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…
SSF-Net: Spatial-Spectral Fusion Network with Spectral Angle Awareness for Hyperspectral Object Tracking
School of Information and Electronics, Beijing Institute of Technology（信息与电子学院，北京理工大学）；National Key Laboratory of Science and Technology on Space-Born Intelligent Information Processing（空间智能信息处理国家级重点实验室）；Beijing Institute of Technology, Zhuhai, Guangdong（珠海，广东，北京理工大学）；Department of Electrical and Computer Engineering, University of Delaware（电气与计算机工程系，德克萨斯大学）；Department of Electrical and Computer Engineering, Mississippi State University（电气与计算机工程系，密苏里州立大学）
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）
