# Convolutional Unscented Kalman Filter for Multi-Object Tracking with Outliers

arXiv: https://arxiv.org/abs/2406.01380 · HTML: https://mlsanity.com/paper/2406.01380/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 44 references that are in the map.
- First posted on arXiv 3 Jun 2024.

## Builds on (most cited first, 11 of 11)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud](https://mlsanity.com/paper/1812.04244/) (2018)
- [Class-balanced Grouping and Sampling for Point Cloud 3D Object Detection](https://mlsanity.com/paper/1908.09492/) (2019)
- [Multiple Object Tracking: A Literature Review](https://mlsanity.com/paper/1409.7618/) (2014)
- [CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusion](https://mlsanity.com/paper/2209.02540/) (2022)
- [3D Multi-Object Tracking: A Baseline and New Evaluation Metrics](https://mlsanity.com/paper/1907.03961/) (2019)
- [Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking](https://mlsanity.com/paper/2307.16675/) (2023)
- [Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking](https://mlsanity.com/paper/2403.13443/) (2024)
- [Robust Estimation of Similarity Transformation for Visual Object Tracking](https://mlsanity.com/paper/1712.05231/) (2017)
- [Convolutional Bayesian Filtering](https://mlsanity.com/paper/2404.00481/) (2024)

## Built on by (most cited first, 1 of 1)

- [OptiPMB: Enhancing 3D Multi-Object Tracking with Optimized Poisson Multi-Bernoulli Filtering](https://mlsanity.com/paper/2503.12968/) (2025)

## Abstract (arXiv)

Multi-object tracking (MOT) is an essential technique for navigation in autonomous driving. In tracking-by-detection systems, biases, false positives, and misses, which are referred to as outliers, are inevitable due to complex traffic scenarios. Recent tracking methods are based on filtering algorithms that overlook these outliers, leading to reduced tracking accuracy or even loss of the objects trajectory. To handle this challenge, we adopt a probabilistic perspective, regarding the generation of outliers as misspecification between the actual distribution of measurement data and the nominal measurement model used for filtering. We further demonstrate that, by designing a convolutional operation, we can mitigate this misspecification. Incorporating this operation into the widely used unscented Kalman filter (UKF) in commonly adopted tracking algorithms, we derive a variant of the UKF that is robust to outliers, called the convolutional UKF (ConvUKF). We show that ConvUKF maintains the Gaussian conjugate property, thus allowing for real-time tracking. We also prove that ConvUKF has a bounded tracking error in the presence of outliers, which implies robust stability. The experimental results on the KITTI and nuScenes datasets show improved accuracy compared to representative baseline algorithms for MOT tasks.