mlsanityData to 14 Oct 2026

Staple: Complementary Learners for Real-Time Tracking

arXiv 1512.01355 ↗First posted 4 Dec 2015cs.CVcited by 60

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Abstract (arXiv)

Correlation Filter-based trackers have recently achieved excellent performance, showing great robustness to challenging situations exhibiting motion blur and illumination changes. However, since the model that they learn depends strongly on the spatial layout of the tracked object, they are notoriously sensitive to deformation. Models based on colour statistics have complementary traits: they cope well with variation in shape, but suffer when illumination is not consistent throughout a sequence. Moreover, colour distributions alone can be insufficiently discriminative. In this paper, we show that a simple tracker combining complementary cues in a ridge regression framework can operate faster than 80 FPS and outperform not only all entries in the popular VOT14 competition, but also recent and far more sophisticated trackers according to multiple benchmarks.

Key facts. Cited by 60 papers in the map (data through 14 Oct 2026). First posted on arXiv 4 Dec 2015.

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Citing papers per year: 2021: 28; 2022: 7; 2023: 13; 2024: 4; 2025: 7; 2026: 1.

60 papers.

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  1. 2022MixFormer: End-to-End Tracking with Iterative Mixed Attentioncited by 281
  2. 2021VisEvent: Reliable Object Tracking via Collaboration of Frame and Event Flowscited by 129
  3. 2021Towards More Flexible and Accurate Object Tracking with Natural Language: Algorithms and Benchmarkcited by 126
  4. 2023Robust Object Modeling for Visual Trackingcited by 80
  5. 2022TCTrack: Temporal Contexts for Aerial Trackingcited by 69
  6. 2021Do Different Tracking Tasks Require Different Appearance Models?cited by 62
  7. 20213D Siamese Voxel-to-BEV Tracker for Sparse Point Cloudscited by 54
  8. 2021Visual Object Tracking with Discriminative Filters and Siamese Networks: A Survey and Outlookcited by 46
  9. 20213D-SiamRPN: An End-to-End Learning Method for Real-Time 3D Single Object Tracking Using Raw Point Cloudcited by 45
  10. 2023Frame-Event Alignment and Fusion Network for High Frame Rate Trackingcited by 43
  11. 2021FEAR: Fast, Efficient, Accurate and Robust Visual Trackercited by 38
  12. 2021Deep Learning for UAV-based Object Detection and Tracking: A Surveycited by 33
38 more
  1. 2021MFGNet: Dynamic Modality-Aware Filter Generation for RGB-T Trackingcited by 32
  2. 2021Anti-UAV: A Large Multi-Modal Benchmark for UAV Trackingcited by 31
  3. 2021All-Day Object Tracking for Unmanned Aerial Vehiclecited by 28
  4. 2023Towards Real-World Visual Tracking with Temporal Contextscited by 26
  5. 2022Visual Object Tracking in First Person Visioncited by 25
  6. 2023Image Enhancement for Remote Photoplethysmography in a Low-Light Environmentcited by 23
  7. 2021Is First Person Vision Challenging for Object Tracking?cited by 21
  8. 2021Dynamic Attention guided Multi-Trajectory Analysis for Single Object Trackingcited by 17
  9. 2021ADTrack: Target-Aware Dual Filter Learning for Real-Time Anti-Dark UAV Trackingcited by 17
  10. 2023Transformers in Single Object Tracking: An Experimental Surveycited by 10
  11. 2024eMoE-Tracker: Environmental MoE-based Transformer for Robust Event-guided Object Trackingcited by 10
  12. 2023Beyond Visual Cues: Synchronously Exploring Target-Centric Semantics for Vision-Language Trackingcited by 9
  13. 2025Temporal Unlearnable Examples: Preventing Personal Video Data from Unauthorized Exploitation by Object Trackingcited by 9
  14. 2021Mutation Sensitive Correlation Filter for Real-Time UAV Tracking with Adaptive Hybrid Labelcited by 6
  15. 2021Unsupervised Cross-Modal Distillation for Thermal Infrared Trackingcited by 6
  16. 2021UHP-SOT: An Unsupervised High-Performance Single Object Trackercited by 6
  17. 2021A Discriminative Single-Shot Segmentation Network for Visual Object Trackingcited by 4
  18. 2022GUSOT: Green and Unsupervised Single Object Tracking for Long Video Sequencescited by 4
  19. 2024Vision Technologies with Applications in Traffic Surveillance Systems: A Holistic Surveycited by 4
  20. 2021Unsupervised Lightweight Single Object Tracking with UHP-SOT++cited by 3
  21. 20213D Visual Tracking Framework with Deep Learning for Asteroid Explorationcited by 3
  22. 2024NT-VOT211: A Large-Scale Benchmark for Night-time Visual Object Trackingcited by 3
  23. 2021Learning Dynamic Compact Memory Embedding for Deformable Visual Object Trackingcited by 2
  24. 2022Single Object Tracking Research: A Surveycited by 2
  25. 2023Event-based Camera Tracker by nablat NeRFcited by 2
  26. 2021Deep Convolutional Correlation Iterative Particle Filter for Visual Trackingcited by 1
  27. 2023MMF-Track: Multi-modal Multi-level Fusion for 3D Single Object Trackingcited by 1
  28. 2025Event Stream-based Visual Object Tracking: HDETrack V2 and A High-Definition Benchmarkcited by 1
  29. 2025SMMT: Siamese Motion Mamba with Self-attention for Thermal Infrared Target Trackingcited by 1
  30. 2026GLAD: Generative Language-Assisted Visual Tracking for Low-Semantic Templatescited by 1
  31. 2021MFST: Multi-Features Siamese Trackercited by 0
  32. 2021Multiple Convolutional Features in Siamese Networks for Object Trackingcited by 0
  33. 2021DCF-ASN: Coarse-to-fine Real-time Visual Tracking via Discriminative Correlation Filter and Attentional Siamese Networkcited by 0
  34. 2021Continuity-Discrimination Convolutional Neural Network for Visual Object Trackingcited by 0
  35. 2021Explicitly Modeling the Discriminability for Instance-Aware Visual Object Trackingcited by 0
  36. 2021Recursive Least-Squares Estimator-Aided Online Learning for Visual Trackingcited by 0
  37. 2022An efficient real-time target tracking algorithm using adaptive feature fusioncited by 0
  38. 2022Sparse Regularized Correlation Filter for UAV Object Tracking with adaptive Contextual Learning and Keyfilter Selectioncited by 0

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