mlsanityData to 7 Oct 2026

DepthTrack : Unveiling the Power of RGBD Tracking

arXiv 2108.13962 ↗First posted 31 Aug 2021cs.CVcited by 66

Not on the map. Why?

Abstract (arXiv)

RGBD (RGB plus depth) object tracking is gaining momentum as RGBD sensors have become popular in many application fields such as robotics.However, the best RGBD trackers are extensions of the state-of-the-art deep RGB trackers. They are trained with RGB data and the depth channel is used as a sidekick for subtleties such as occlusion detection. This can be explained by the fact that there are no sufficiently large RGBD datasets to 1) train deep depth trackers and to 2) challenge RGB trackers with sequences for which the depth cue is essential. This work introduces a new RGBD tracking dataset - Depth-Track - that has twice as many sequences (200) and scene types (40) than in the largest existing dataset, and three times more objects (90). In addition, the average length of the sequences (1473), the number of deformable objects (16) and the number of annotated tracking attributes (15) have been increased. Furthermore, by running the SotA RGB and RGBD trackers on DepthTrack, we propose a new RGBD tracking baseline, namely DeT, which reveals that deep RGBD tracking indeed benefits from genuine training data. The code and dataset is available at https://github.com/xiaozai/DeT

Key facts. Cited by 66 papers in the map (data through 7 Oct 2026). Builds on 18 of its 28 references that are in the map. First posted on arXiv 31 Aug 2021.

Builds on

18 of 28 references.

References · 18

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  2. 2016Fully-Convolutional Siamese Networks for Object Trackingcited by 566
  3. 2018GOT-10k: A Large High-Diversity Benchmark for Generic Object Tracking in the Wildcited by 471
  4. 2018LaSOT: A High-quality Benchmark for Large-scale Single Object Trackingcited by 424
  5. 2019Learning Discriminative Model Prediction for Trackingcited by 344
  6. 2018TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wildcited by 342
  7. 2018ATOM: Accurate Tracking by Overlap Maximizationcited by 285
  8. 2015Learning Multi-Domain Convolutional Neural Networks for Visual Trackingcited by 209
  9. 2018High Quality Monocular Depth Estimation via Transfer Learningcited by 133
  10. 2020Know Your Surroundings: Exploiting Scene Information for Object Trackingcited by 119
  11. 2020Alpha-Refine: Boosting Tracking Performance by Precise Bounding Box Estimationcited by 81
  12. 2019D3S -- A Discriminative Single Shot Segmentation Trackercited by 69
6 more
  1. 2018Long-term Tracking in the Wild: A Benchmarkcited by 55
  2. 2018Object Tracking by Reconstruction with View-Specific Discriminative Correlation Filterscited by 32
  3. 2019CDTB: A Color and Depth Visual Object Tracking Dataset and Benchmarkcited by 31
  4. 2020RPT: Learning Point Set Representation for Siamese Visual Trackingcited by 26
  5. 2019DAL -- A Deep Depth-aware Long-term Trackercited by 25
  6. 2020Robust Long-Term Object Tracking via Improved Discriminative Model Predictioncited by 4

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 6; 2023: 8; 2024: 12; 2025: 21; 2026: 17.

66 papers.

Sort:

By area:

  1. 2023Visual Prompt Multi-Modal Trackingcited by 141
  2. 2023Single-Model and Any-Modality for Video Object Trackingcited by 64
  3. 2024OneTracker: Unifying Visual Object Tracking with Foundation Models and Efficient Tuningcited by 64
  4. 2022Prompting for Multi-Modal Trackingcited by 58
  5. 2023DFormer: Rethinking RGBD Representation Learning for Semantic Segmentationcited by 58
  6. 2023Frame-Event Alignment and Fusion Network for High Frame Rate Trackingcited by 43
  7. 2024SDSTrack: Self-Distillation Symmetric Adapter Learning for Multi-Modal Visual Object Trackingcited by 43
  8. 2022RGBD1K: A Large-scale Dataset and Benchmark for RGB-D Object Trackingcited by 42
  9. 2023Generative-based Fusion Mechanism for Multi-Modal Trackingcited by 33
  10. 2025Towards Universal Modal Tracking with Online Dense Temporal Token Learningcited by 30
  11. 2023Unified Sequence-to-Sequence Learning for Single- and Multi-Modal Visual Object Trackingcited by 20
  12. 2024XTrack: Multimodal Training Boosts RGB-X Video Object Trackerscited by 20
38 more
  1. 2025What You Have is What You Track: Adaptive and Robust Multimodal Trackingcited by 15
  2. 2023ARKitTrack: A New Diverse Dataset for Tracking Using Mobile RGB-D Datacited by 12
  3. 2022RGBD Object Tracking: An In-depth Reviewcited by 11
  4. 2025Adaptive Perception for Unified Visual Multi-modal Object Trackingcited by 11
  5. 2025CSTrack: Enhancing RGB-X Tracking via Compact Spatiotemporal Featurescited by 10
  6. 2023Cross-Modal Object Tracking via Modality-Aware Fusion Network and A Large-Scale Datasetcited by 8
  7. 2024Awesome Multi-modal Object Trackingcited by 7
  8. 2024RGB-Sonar Tracking Benchmark and Spatial Cross-Attention Transformer Trackercited by 6
  9. 2022Visual Object Tracking on Multi-modal RGB-D Videos: A Reviewcited by 5
  10. 2022Learning Dual-Fused Modality-Aware Representations for RGBD Trackingcited by 5
  11. 2026Video Understanding: From Geometry and Semantics to Unified Modelscited by 5
  12. 2021Point Cloud Color Constancycited by 4
  13. 2024MTMMC: A Large-Scale Real-World Multi-Modal Camera Tracking Benchmarkcited by 4
  14. 2025OmniSegmentor: A Flexible Multi-Modal Learning Framework for Semantic Segmentationcited by 4
  15. 2021Depth-only Object Trackingcited by 3
  16. 2022SkeleVision: Towards Adversarial Resiliency of Person Tracking with Multi-Task Learningcited by 2
  17. 2024From Two-Stream to One-Stream: Efficient RGB-T Tracking via Mutual Prompt Learning and Knowledge Distillationcited by 2
  18. 2024Dynamic Subframe Splitting and Spatio-Temporal Motion Entangled Sparse Attention for RGB-E Trackingcited by 2
  19. 2025Diff-MM: Exploring Pre-trained Text-to-Image Generation Model for Unified Multi-modal Object Trackingcited by 2
  20. 2025UMDATrack: Unified Multi-Domain Adaptive Tracking Under Adverse Weather Conditionscited by 2
  21. 2025Omni Survey for Multimodality Analysis in Visual Object Trackingcited by 2
  22. 2025Collaborating Vision, Depth, and Thermal Signals for Multi-Modal Tracking: Dataset and Algorithmcited by 2
  23. 2026UETrack: A Unified and Efficient Framework for Single Object Trackingcited by 2
  24. 2026SEATrack: Simple, Efficient, and Adaptive Multimodal Trackercited by 2
  25. 2024FusionVision: A comprehensive approach of 3D object reconstruction and segmentation from RGB-D cameras using YOLO and fast segment anythingcited by 1
  26. 2025LightFC-X: Lightweight Convolutional Tracker for RGB-X Trackingcited by 1
  27. 2025UASTrack: A Unified Adaptive Selection Framework with Modality-Customization in Single Object Trackingcited by 1
  28. 2025RGB-D Video Object Segmentation via Enhanced Multi-store Feature Memorycited by 1
  29. 2025Progressive Scaling Visual Object Trackingcited by 1
  30. 2025Learning Frequency and Memory-Aware Prompts for Multi-Modal Object Trackingcited by 1
  31. 2025DMTrack: Spatio-Temporal Multimodal Tracking via Dual-Adaptercited by 1
  32. 2025UniSOT: A Unified Framework for Multi-Modality Single Object Trackingcited by 1
  33. 2025SwiTrack: Tri-State Switch for Cross-Modal Object Trackingcited by 1
  34. 2025Tracking and Segmenting Anything in Any Modalitycited by 1
  35. 2026GOT-Edit: Geometry-Aware Generic Object Tracking via Online Model Editingcited by 1
  36. 2026Uni-MDTrack: Learning Decoupled Memory and Dynamic States for Parameter-Efficient Visual Tracking in All Modalitycited by 1
  37. 2024Enhanced Object Tracking by Self-Supervised Auxiliary Depth Estimation Learningcited by 0
  38. 2024Performance Evaluation of Deep Learning-based Quadrotor UAV Detection and Tracking Methodscited by 0

50 most cited of 66 All 66 (JSON)