# MM-Tracker: Motion Mamba with Margin Loss for UAV-platform Multiple Object Tracking

arXiv: https://arxiv.org/abs/2407.10485 · HTML: https://mlsanity.com/paper/2407.10485/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in Point clouds, detection and remote sensing, one of 10 directions in State-space sequence models (S4, Mamba).
- Builds on 30 of its 65 references that are in the map.
- First posted on arXiv 15 Jul 2024.

## Placed in

- State-space sequence models (S4, Mamba) / [Point clouds, detection and remote sensing](https://mlsanity.com/ssm/point-clouds-detection-and-remote-sensing/)

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

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [Learning Imbalanced Datasets with Label-Distribution-Aware Margin Loss](https://mlsanity.com/paper/1906.07413/) (2019)
- [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)
- [Long-tail learning via logit adjustment](https://mlsanity.com/paper/2007.07314/) (2020)
- [TrackFormer: Multi-Object Tracking with Transformers](https://mlsanity.com/paper/2101.02702/) (2021)
- [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)
- [Balanced Meta-Softmax for Long-Tailed Visual Recognition](https://mlsanity.com/paper/2007.10740/) (2020)
- [MOT20: A benchmark for multi object tracking in crowded scenes](https://mlsanity.com/paper/2003.09003/) (2020)
- [Towards Real-Time Multi-Object Tracking](https://mlsanity.com/paper/1909.12605/) (2019)
- [Additive Margin Softmax for Face Verification](https://mlsanity.com/paper/1801.05599/) (2018)
- [Detection and Tracking Meet Drones Challenge](https://mlsanity.com/paper/2001.06303/) (2020)
- [The Unmanned Aerial Vehicle Benchmark: Object Detection and Tracking](https://mlsanity.com/paper/1804.00518/) (2018)
- [Attention is All You Need in Speech Separation](https://mlsanity.com/paper/2010.13154/) (2020)
- [Multiple Object Tracking: A Literature Review](https://mlsanity.com/paper/1409.7618/) (2014)
- [Overcoming Classifier Imbalance for Long-tail Object Detection with Balanced Group Softmax](https://mlsanity.com/paper/2006.10408/) (2020)
- [MOTChallenge 2015: Towards a Benchmark for Multi-Target Tracking](https://mlsanity.com/paper/1504.01942/) (2015)
- [Chained-Tracker: Chaining Paired Attentive Regression Results for End-to-End Joint Multiple-Object Detection and Tracking](https://mlsanity.com/paper/2007.14557/) (2020)
- [The Devil is in Classification: A Simple Framework for Long-tail Object Detection and Instance Segmentation](https://mlsanity.com/paper/2007.11978/) (2020)
- [Generalized Focal Loss V2: Learning Reliable Localization Quality Estimation for Dense Object Detection](https://mlsanity.com/paper/2011.12885/) (2020)
- [SiamMOT: Siamese Multi-Object Tracking](https://mlsanity.com/paper/2105.11595/) (2021)
- [Equalized Focal Loss for Dense Long-Tailed Object Detection](https://mlsanity.com/paper/2201.02593/) (2022)
- [A Survey of Appearance Models in Visual Object Tracking](https://mlsanity.com/paper/1303.4803/) (2013)
- [DeepSTCL: A Deep Spatio-temporal ConvLSTM for Travel Demand Prediction](https://mlsanity.com/paper/2009.00096/) (2020)
- [Dense Scene Multiple Object Tracking with Box-Plane Matching](https://mlsanity.com/paper/2007.15576/) (2020)

## Built on by (most cited first, 3 of 3)

- [Is Intermediate Fusion All You Need for UAV-based Collaborative Perception?](https://mlsanity.com/paper/2504.21774/) (2025)
- [Tracking the Unstable: Appearance-Guided Motion Modeling for Robust Multi-Object Tracking in UAV-Captured Videos](https://mlsanity.com/paper/2508.01730/) (2025)
- [Focus on What Really Matters in Low-Altitude Governance: A Management-Centric Multi-Modal Benchmark with Implicitly Coordinated Vision-Language Reasoning Framework](https://mlsanity.com/paper/2601.19640/) (2026)

## Abstract (arXiv)

Multiple object tracking (MOT) from unmanned aerial vehicle (UAV) platforms requires efficient motion modeling. This is because UAV-MOT faces both local object motion and global camera motion. Motion blur also increases the difficulty of detecting large moving objects. Previous UAV motion modeling approaches either focus only on local motion or ignore motion blurring effects, thus limiting their tracking performance and speed. To address these issues, we propose the Motion Mamba Module, which explores both local and global motion features through cross-correlation and bi-directional Mamba Modules for better motion modeling. To address the detection difficulties caused by motion blur, we also design motion margin loss to effectively improve the detection accuracy of motion blurred objects. Based on the Motion Mamba module and motion margin loss, our proposed MM-Tracker surpasses the state-of-the-art in two widely open-source UAV-MOT datasets. Code will be available.