# Learning a Neural Association Network for Self-supervised Multi-Object Tracking

arXiv: https://arxiv.org/abs/2411.11514 · HTML: https://mlsanity.com/paper/2411.11514/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 64 references that are in the map.
- First posted on arXiv 18 Nov 2024.

## Builds on (most cited first, 30 of 48)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [Unsupervised Learning of Visual Representations by Solving Jigsaw Puzzles](https://mlsanity.com/paper/1603.09246/) (2016)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [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)
- [MOT16: A Benchmark for Multi-Object Tracking](https://mlsanity.com/paper/1603.00831/) (2016)
- [Self-labelling via simultaneous clustering and representation learning](https://mlsanity.com/paper/1911.05371/) (2019)
- [TrackFormer: Multi-Object Tracking with Transformers](https://mlsanity.com/paper/2101.02702/) (2021)
- [Tracking without bells and whistles](https://mlsanity.com/paper/1903.05625/) (2019)
- [MOTR: End-to-End Multiple-Object Tracking with Transformer](https://mlsanity.com/paper/2105.03247/) (2021)
- [Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Tracking](https://mlsanity.com/paper/2203.14360/) (2022)
- [Omni-Scale Feature Learning for Person Re-Identification](https://mlsanity.com/paper/1905.00953/) (2019)
- [Space-Time Correspondence as a Contrastive Random Walk](https://mlsanity.com/paper/2006.14613/) (2020)
- [Quasi-Dense Similarity Learning for Multiple Object Tracking](https://mlsanity.com/paper/2006.06664/) (2020)
- [Colorization as a Proxy Task for Visual Understanding](https://mlsanity.com/paper/1703.04044/) (2017)
- [Learning Latent Permutations with Gumbel-Sinkhorn Networks](https://mlsanity.com/paper/1802.08665/) (2018)
- [Deep Kalman Filters](https://mlsanity.com/paper/1511.05121/) (2015)
- [MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectors](https://mlsanity.com/paper/2211.09791/) (2022)
- [Learning to Track with Object Permanence](https://mlsanity.com/paper/2103.14258/) (2021)
- [MeMOTR: Long-Term Memory-Augmented Transformer for Multi-Object Tracking](https://mlsanity.com/paper/2307.15700/) (2023)
- [How To Train Your Deep Multi-Object Tracker](https://mlsanity.com/paper/1906.06618/) (2019)
- [Hard to Track Objects with Irregular Motions and Similar Appearances? Make It Easier by Buffering the Matching Space](https://mlsanity.com/paper/2211.14317/) (2022)

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

- [Causal neural set filtering for online multi-target tracking](https://mlsanity.com/paper/2609.16054/) (2026)

## Abstract (arXiv)

This paper introduces a novel framework to learn data association for multi-object tracking in a self-supervised manner. Fully-supervised learning methods are known to achieve excellent tracking performances, but acquiring identity-level annotations is tedious and time-consuming. Motivated by the fact that in real-world scenarios object motion can be usually represented by a Markov process, we present a novel expectation maximization (EM) algorithm that trains a neural network to associate detections for tracking, without requiring prior knowledge of their temporal correspondences. At the core of our method lies a neural Kalman filter, with an observation model conditioned on associations of detections parameterized by a neural network. Given a batch of frames as input, data associations between detections from adjacent frames are predicted by a neural network followed by a Sinkhorn normalization that determines the assignment probabilities of detections to states. Kalman smoothing is then used to obtain the marginal probability of observations given the inferred states, producing a training objective to maximize this marginal probability using gradient descent. The proposed framework is fully differentiable, allowing the underlying neural model to be trained end-to-end. We evaluate our approach on the challenging MOT17, MOT20, and BDD100K datasets and achieve state-of-the-art results in comparison to self-supervised trackers using public detections.