# Beyond Kalman Filters: Deep Learning-Based Filters for Improved Object Tracking

arXiv: https://arxiv.org/abs/2402.09865 · HTML: https://mlsanity.com/paper/2402.09865/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 46 of its 71 references that are in the map.
- First posted on arXiv 15 Feb 2024.

## Builds on (most cited first, 30 of 46)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Neural Ordinary Differential Equations](https://mlsanity.com/paper/1806.07366/) (2018)
- [On the Properties of Neural Machine Translation: Encoder-Decoder Approaches](https://mlsanity.com/paper/1409.1259/) (2014)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [Simple Online and Realtime Tracking with a Deep Association Metric](https://mlsanity.com/paper/1703.07402/) (2017)
- [Simple Online and Realtime Tracking](https://mlsanity.com/paper/1602.00763/) (2016)
- [ByteTrack: Multi-Object Tracking by Associating Every Detection Box](https://mlsanity.com/paper/2110.06864/) (2021)
- [HOTA: A Higher Order Metric for Evaluating Multi-Object Tracking](https://mlsanity.com/paper/2009.07736/) (2020)
- [Empirical Evaluation of Rectified Activations in Convolutional Network](https://mlsanity.com/paper/1505.00853/) (2015)
- [FairMOT: On the Fairness of Detection and Re-Identification in Multiple Object Tracking](https://mlsanity.com/paper/2004.01888/) (2020)
- [Tracking Objects as Points](https://mlsanity.com/paper/2004.01177/) (2020)
- [LaSOT: A High-quality Benchmark for Large-scale Single Object Tracking](https://mlsanity.com/paper/1809.07845/) (2018)
- [Conditional Neural Processes](https://mlsanity.com/paper/1807.01613/) (2018)
- [MOT20: A benchmark for multi object tracking in crowded scenes](https://mlsanity.com/paper/2003.09003/) (2020)
- [Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Tracking](https://mlsanity.com/paper/2203.14360/) (2022)
- [BoT-SORT: Robust Associations Multi-Pedestrian Tracking](https://mlsanity.com/paper/2206.14651/) (2022)
- [Neural Processes](https://mlsanity.com/paper/1807.01622/) (2018)
- [Towards Real-Time Multi-Object Tracking](https://mlsanity.com/paper/1909.12605/) (2019)
- [Attentive Neural Processes](https://mlsanity.com/paper/1901.05761/) (2019)
- [GRU-ODE-Bayes: Continuous modeling of sporadically-observed time series](https://mlsanity.com/paper/1905.12374/) (2019)
- [DanceTrack: Multi-Object Tracking in Uniform Appearance and Diverse Motion](https://mlsanity.com/paper/2111.14690/) (2021)
- [StrongSORT: Make DeepSORT Great Again](https://mlsanity.com/paper/2202.13514/) (2022)

## Built on by (most cited first, 8 of 8)

- [Engineering an Efficient Object Tracker for Non-Linear Motion](https://mlsanity.com/paper/2407.00738/) (2024)
- [CAMELTrack: Context-Aware Multi-cue ExpLoitation for Online Multi-Object Tracking](https://mlsanity.com/paper/2505.01257/) (2025)
- [Deep Learning-Based Multi-Object Tracking: A Comprehensive Survey from Foundations to State-of-the-Art](https://mlsanity.com/paper/2506.13457/) (2025)
- [Deep HM-SORT: Enhancing Multi-Object Tracking in Sports with Deep Features, Harmonic Mean, and Expansion IOU](https://mlsanity.com/paper/2406.12081/) (2024)
- [Detection and Tracking of MAVs Using a Rosette Scanning Pattern LiDAR](https://mlsanity.com/paper/2408.08555/) (2024)
- [Learning Association via Track-Detection Matching for Multi-Object Tracking](https://mlsanity.com/paper/2512.22105/) (2025)
- [Motion-Aware Reinforcement Learning For Object Localization](https://mlsanity.com/paper/2606.21764/) (2026)
- [Revisiting Multi-Object Tracking Baselines: Hyperparameter Optimization with Multi-Fidelity Greedy Coordinate Search](https://mlsanity.com/paper/2609.12261/) (2026)

## Abstract (arXiv)

Traditional tracking-by-detection systems typically employ Kalman filters (KF) for state estimation. However, the KF requires domain-specific design choices and it is ill-suited to handling non-linear motion patterns. To address these limitations, we propose two innovative data-driven filtering methods. Our first method employs a Bayesian filter with a trainable motion model to predict an object's future location and combines its predictions with observations gained from an object detector to enhance bounding box prediction accuracy. Moreover, it dispenses with most domain-specific design choices characteristic of the KF. The second method, an end-to-end trainable filter, goes a step further by learning to correct detector errors, further minimizing the need for domain expertise. Additionally, we introduce a range of motion model architectures based on Recurrent Neural Networks, Neural Ordinary Differential Equations, and Conditional Neural Processes, that are combined with the proposed filtering methods. Our extensive evaluation across multiple datasets demonstrates that our proposed filters outperform the traditional KF in object tracking, especially in the case of non-linear motion patterns -- the use case our filters are best suited to. We also conduct noise robustness analysis of our filters with convincing positive results. We further propose a new cost function for associating observations with tracks. Our tracker, which incorporates this new association cost with our proposed filters, outperforms the conventional SORT method and other motion-based trackers in multi-object tracking according to multiple metrics on motion-rich DanceTrack and SportsMOT datasets.