# Enhanced Kalman with Adaptive Appearance Motion SORT for Grounded Generic Multiple Object Tracking

arXiv: https://arxiv.org/abs/2410.09243 · HTML: https://mlsanity.com/paper/2410.09243/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 51 of its 64 references that are in the map.
- First posted on arXiv 11 Oct 2024.

## Builds on (most cited first, 30 of 51)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Scaling Up Visual and Vision-Language Representation Learning With Noisy Text Supervision](https://mlsanity.com/paper/2102.05918/) (2021)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Grounded Language-Image Pre-training](https://mlsanity.com/paper/2112.03857/) (2021)
- [Simple Online and Realtime Tracking with a Deep Association Metric](https://mlsanity.com/paper/1703.07402/) (2017)
- [Open-vocabulary Object Detection via Vision and Language Knowledge Distillation](https://mlsanity.com/paper/2104.13921/) (2021)
- [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)
- [GLIGEN: Open-Set Grounded Text-to-Image Generation](https://mlsanity.com/paper/2301.07093/) (2023)
- [Language-driven Semantic Segmentation](https://mlsanity.com/paper/2201.03546/) (2022)
- [RegionCLIP: Region-based Language-Image Pretraining](https://mlsanity.com/paper/2112.09106/) (2021)
- [HOTA: A Higher Order Metric for Evaluating Multi-Object Tracking](https://mlsanity.com/paper/2009.07736/) (2020)
- [MOT16: A Benchmark for Multi-Object Tracking](https://mlsanity.com/paper/1603.00831/) (2016)
- [DenseCLIP: Language-Guided Dense Prediction with Context-Aware Prompting](https://mlsanity.com/paper/2112.01518/) (2021)
- [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)
- [GOT-10k: A Large High-Diversity Benchmark for Generic Object Tracking in the Wild](https://mlsanity.com/paper/1810.11981/) (2018)
- [LaSOT: A High-quality Benchmark for Large-scale Single Object Tracking](https://mlsanity.com/paper/1809.07845/) (2018)
- [MOTR: End-to-End Multiple-Object Tracking with Transformer](https://mlsanity.com/paper/2105.03247/) (2021)
- [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)
- [TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wild](https://mlsanity.com/paper/1803.10794/) (2018)
- [Simple Open-Vocabulary Object Detection with Vision Transformers](https://mlsanity.com/paper/2205.06230/) (2022)
- [GLIPv2: Unifying Localization and Vision-Language Understanding](https://mlsanity.com/paper/2206.05836/) (2022)
- [Quasi-Dense Similarity Learning for Multiple Object Tracking](https://mlsanity.com/paper/2006.06664/) (2020)
- [DanceTrack: Multi-Object Tracking in Uniform Appearance and Diverse Motion](https://mlsanity.com/paper/2111.14690/) (2021)
- [Learning a Neural Solver for Multiple Object Tracking](https://mlsanity.com/paper/1912.07515/) (2019)

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

- [IMM-MOT: A Novel 3D Multi-object Tracking Framework with Interacting Multiple Model Filter](https://mlsanity.com/paper/2502.09672/) (2025)

## Abstract (arXiv)

Despite recent progress, Multi-Object Tracking (MOT) continues to face significant challenges, particularly its dependence on prior knowledge and predefined categories, complicating the tracking of unfamiliar objects. Generic Multiple Object Tracking (GMOT) emerges as a promising solution, requiring less prior information. Nevertheless, existing GMOT methods, primarily designed as OneShot-GMOT, rely heavily on initial bounding boxes and often struggle with variations in viewpoint, lighting, occlusion, and scale. To overcome the limitations inherent in both MOT and GMOT when it comes to tracking objects with specific generic attributes, we introduce Grounded-GMOT, an innovative tracking paradigm that enables users to track multiple generic objects in videos through natural language descriptors. Our contributions begin with the introduction of the G2MOT dataset, which includes a collection of videos featuring a wide variety of generic objects, each accompanied by detailed textual descriptions of their attributes. Following this, we propose a novel tracking method, KAM-SORT, which not only effectively integrates visual appearance with motion cues but also enhances the Kalman filter. KAM-SORT proves particularly advantageous when dealing with objects of high visual similarity from the same generic category in GMOT scenarios. Through comprehensive experiments, we demonstrate that Grounded-GMOT outperforms existing OneShot-GMOT approaches. Additionally, our extensive comparisons between various trackers highlight KAM-SORT's efficacy in GMOT, further establishing its significance in the field. Project page: https://UARK-AICV.github.io/G2MOT. The source code and dataset will be made publicly available.