# 3D-Aware Instance Segmentation and Tracking in Egocentric Videos

arXiv: https://arxiv.org/abs/2408.09860 · HTML: https://mlsanity.com/paper/2408.09860/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 45 of its 51 references that are in the map.
- First posted on arXiv 19 Aug 2024.

## Builds on (most cited first, 30 of 45)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [2D Gaussian Splatting for Geometrically Accurate Radiance Fields](https://mlsanity.com/paper/2403.17888/) (2024)
- [ByteTrack: Multi-Object Tracking by Associating Every Detection Box](https://mlsanity.com/paper/2110.06864/) (2021)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [HOTA: A Higher Order Metric for Evaluating Multi-Object Tracking](https://mlsanity.com/paper/2009.07736/) (2020)
- [CoTracker: It is Better to Track Together](https://mlsanity.com/paper/2307.07635/) (2023)
- [TrackFormer: Multi-Object Tracking with Transformers](https://mlsanity.com/paper/2101.02702/) (2021)
- [Tracking Objects as Points](https://mlsanity.com/paper/2004.01177/) (2020)
- [End-to-End Video Instance Segmentation with Transformers](https://mlsanity.com/paper/2011.14503/) (2020)
- [XMem: Long-Term Video Object Segmentation with an Atkinson-Shiffrin Memory Model](https://mlsanity.com/paper/2207.07115/) (2022)
- [Video Object Segmentation using Space-Time Memory Networks](https://mlsanity.com/paper/1904.00607/) (2019)
- [Video Instance Segmentation](https://mlsanity.com/paper/1905.04804/) (2019)
- [Gaussian Grouping: Segment and Edit Anything in 3D Scenes](https://mlsanity.com/paper/2312.00732/) (2023)
- [Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Tracking](https://mlsanity.com/paper/2203.14360/) (2022)
- [Scaling Open-Vocabulary Object Detection](https://mlsanity.com/paper/2306.09683/) (2023)
- [BoT-SORT: Robust Associations Multi-Pedestrian Tracking](https://mlsanity.com/paper/2206.14651/) (2022)
- [TAPIR: Tracking Any Point with per-frame Initialization and temporal Refinement](https://mlsanity.com/paper/2306.08637/) (2023)
- [TAP-Vid: A Benchmark for Tracking Any Point in a Video](https://mlsanity.com/paper/2211.03726/) (2022)
- [Associating Objects with Transformers for Video Object Segmentation](https://mlsanity.com/paper/2106.02638/) (2021)
- [The EPIC-KITCHENS Dataset: Collection, Challenges and Baselines](https://mlsanity.com/paper/2005.00343/) (2020)
- [Particle Video Revisited: Tracking Through Occlusions Using Point Trajectories](https://mlsanity.com/paper/2204.04153/) (2022)
- [Tracking Anything with Decoupled Video Segmentation](https://mlsanity.com/paper/2309.03903/) (2023)
- [FEELVOS: Fast End-to-End Embedding Learning for Video Object Segmentation](https://mlsanity.com/paper/1902.09513/) (2019)
- [Panoptic Lifting for 3D Scene Understanding with Neural Fields](https://mlsanity.com/paper/2212.09802/) (2022)
- [A Survey on Deep Learning Technique for Video Segmentation](https://mlsanity.com/paper/2107.01153/) (2021)

## Built on by (most cited first, 5 of 5)

- [RELOCATE: A Simple Training-Free Baseline for Visual Query Localization Using Region-Based Representations](https://mlsanity.com/paper/2412.01826/) (2024)
- [Whareformer: Learning to Track What is Where in Long Egocentric Videos](https://mlsanity.com/paper/2607.08537/) (2026)
- [DIV-FF: Dynamic Image-Video Feature Fields For Environment Understanding in Egocentric Videos](https://mlsanity.com/paper/2503.08344/) (2025)
- [Layered Motion Fusion: Lifting Motion Segmentation to 3D in Egocentric Videos](https://mlsanity.com/paper/2506.05546/) (2025)
- [EgoTrack3D: A Modular Framework for Egocentric 3D Object Tracking](https://mlsanity.com/paper/2608.08016/) (2026)

## Abstract (arXiv)

Egocentric videos present unique challenges for 3D scene understanding due to rapid camera motion, frequent object occlusions, and limited object visibility. This paper introduces a novel approach to instance segmentation and tracking in first-person video that leverages 3D awareness to overcome these obstacles. Our method integrates scene geometry, 3D object centroid tracking, and instance segmentation to create a robust framework for analyzing dynamic egocentric scenes. By incorporating spatial and temporal cues, we achieve superior performance compared to state-of-the-art 2D approaches. Extensive evaluations on the challenging EPIC Fields dataset demonstrate significant improvements across a range of tracking and segmentation consistency metrics. Specifically, our method outperforms the next best performing approach by 7 points in Association Accuracy (AssA) and 4.5 points in IDF1 score, while reducing the number of ID switches by 73% to 80% across various object categories. Leveraging our tracked instance segmentations, we showcase downstream applications in 3D object reconstruction and amodal video object segmentation in these egocentric settings.