# St4RTrack: Simultaneous 4D Reconstruction and Tracking in the World

arXiv: https://arxiv.org/abs/2504.13152 · HTML: https://mlsanity.com/paper/2504.13152/

## Key facts

- Cited by 89 papers in the map (data through 14 Oct 2026).
- Builds on 44 of its 72 references that are in the map.
- First posted on arXiv 17 Apr 2025.

## Builds on (most cited first, 30 of 44)

- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [D-NeRF: Neural Radiance Fields for Dynamic Scenes](https://mlsanity.com/paper/2011.13961/) (2020)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [PWC-Net: CNNs for Optical Flow Using Pyramid, Warping, and Cost Volume](https://mlsanity.com/paper/1709.02371/) (2017)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenes](https://mlsanity.com/paper/2011.13084/) (2020)
- [K-Planes: Explicit Radiance Fields in Space, Time, and Appearance](https://mlsanity.com/paper/2301.10241/) (2023)
- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depth](https://mlsanity.com/paper/2302.12288/) (2023)
- [Continuous 3D Perception Model with Persistent State](https://mlsanity.com/paper/2501.12387/) (2025)
- [CoTracker: It is Better to Track Together](https://mlsanity.com/paper/2307.07635/) (2023)
- [MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motion](https://mlsanity.com/paper/2410.03825/) (2024)
- [UniDepth: Universal Monocular Metric Depth Estimation](https://mlsanity.com/paper/2403.18913/) (2024)
- [Kubric: A scalable dataset generator](https://mlsanity.com/paper/2203.03570/) (2022)
- [MoGe: Unlocking Accurate Monocular Geometry Estimation for Open-Domain Images with Optimal Training Supervision](https://mlsanity.com/paper/2410.19115/) (2024)
- [TAPIR: Tracking Any Point with per-frame Initialization and temporal Refinement](https://mlsanity.com/paper/2306.08637/) (2023)
- [PointOdyssey: A Large-Scale Synthetic Dataset for Long-Term Point Tracking](https://mlsanity.com/paper/2307.15055/) (2023)
- [TAP-Vid: A Benchmark for Tracking Any Point in a Video](https://mlsanity.com/paper/2211.03726/) (2022)
- [Shape of Motion: 4D Reconstruction from a Single Video](https://mlsanity.com/paper/2407.13764/) (2024)
- [MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videos](https://mlsanity.com/paper/2412.04463/) (2024)
- [Visual Geometry Grounded Deep Structure From Motion](https://mlsanity.com/paper/2312.04563/) (2023)
- [DynIBaR: Neural Dynamic Image-Based Rendering](https://mlsanity.com/paper/2211.11082/) (2022)
- [Particle Video Revisited: Tracking Through Occlusions Using Point Trajectories](https://mlsanity.com/paper/2204.04153/) (2022)
- [Monocular Dynamic View Synthesis: A Reality Check](https://mlsanity.com/paper/2210.13445/) (2022)

## Built on by (most cited first, 30 of 89)

- [ViPE: Video Pose Engine for 3D Geometric Perception](https://mlsanity.com/paper/2508.10934/) (2025)
- [Efficiently Reconstructing Dynamic Scenes One D4RT at a Time](https://mlsanity.com/paper/2512.08924/) (2025)
- [LingBot-Map: Geometric Context Transformer for Streaming 3D Reconstruction](https://mlsanity.com/paper/2604.14141/) (2026)
- [Any4D: Unified Feed-Forward Metric 4D Reconstruction](https://mlsanity.com/paper/2512.10935/) (2025)
- [V-DPM: 4D Video Reconstruction with Dynamic Point Maps](https://mlsanity.com/paper/2601.09499/) (2026)
- [Trace Anything: Representing Any Video in 4D via Trajectory Fields](https://mlsanity.com/paper/2510.13802/) (2025)
- [X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real](https://mlsanity.com/paper/2505.07096/) (2025)
- [Advances in Feed-Forward 3D Reconstruction and View Synthesis: A Survey](https://mlsanity.com/paper/2507.14501/) (2025)
- [VGGT-Omega](https://mlsanity.com/paper/2605.15195/) (2026)
- [Back on Track: Bundle Adjustment for Dynamic Scene Reconstruction](https://mlsanity.com/paper/2504.14516/) (2025)
- [Generative Video Motion Editing with 3D Point Tracks](https://mlsanity.com/paper/2512.02015/) (2025)
- [4RC: 4D Reconstruction via Conditional Querying Anytime and Anywhere](https://mlsanity.com/paper/2602.10094/) (2026)
- [RealX3D: A Physically-Degraded 3D Benchmark for Multi-view Visual Restoration and Reconstruction](https://mlsanity.com/paper/2512.23437/) (2025)
- [Motion 3-to-4: 3D Motion Reconstruction for 4D Synthesis](https://mlsanity.com/paper/2601.14253/) (2026)
- [4D-LRM: Large Space-Time Reconstruction Model From and To Any View at Any Time](https://mlsanity.com/paper/2506.18890/) (2025)
- [Reconstruct, Inpaint, Test-Time Finetune: Dynamic Novel-view Synthesis from Monocular Videos](https://mlsanity.com/paper/2507.12646/) (2025)
- [Reconstructing 4D Spatial Intelligence: A Survey](https://mlsanity.com/paper/2507.21045/) (2025)
- [Track4World: Feedforward World-centric Dense 3D Tracking of All Pixels](https://mlsanity.com/paper/2603.02573/) (2026)
- [Mesh4D: 4D Mesh Reconstruction and Tracking from Monocular Video](https://mlsanity.com/paper/2601.05251/) (2026)
- [DELTAv2: Accelerating Dense 3D Tracking](https://mlsanity.com/paper/2508.01170/) (2025)
- [4D-VGGT: A General Foundation Model with SpatioTemporal Awareness for Dynamic Scene Geometry Estimation](https://mlsanity.com/paper/2511.18416/) (2025)
- [MoRe: Motion-aware Feed-forward 4D Reconstruction Transformer](https://mlsanity.com/paper/2603.05078/) (2026)
- [PAGE-4D: Disentangled pose and geometry estimation for vggt-4d perception](https://mlsanity.com/paper/2510.17568/) (2025)
- [Flow4R: Unifying 4D Reconstruction and Tracking with Scene Flow](https://mlsanity.com/paper/2602.14021/) (2026)
- [WHOLE: World-Grounded Hand-Object Lifted from Egocentric Videos](https://mlsanity.com/paper/2602.22209/) (2026)
- [Pri4R: Learning World Dynamics for Vision-Language-Action Models with Privileged 4D Representation](https://mlsanity.com/paper/2603.01549/) (2026)
- [FunRec: Reconstructing Functional 3D Scenes from Egocentric Interaction Videos](https://mlsanity.com/paper/2604.05621/) (2026)
- [Trokens: Semantic-Aware Relational Trajectory Tokens for Few-Shot Action Recognition](https://mlsanity.com/paper/2508.03695/) (2025)
- [TrackingWorld: World-centric Monocular 3D Tracking of Almost All Pixels](https://mlsanity.com/paper/2512.08358/) (2025)
- [NOVA3R: Non-pixel-aligned Visual Transformer for Amodal 3D Reconstruction](https://mlsanity.com/paper/2603.04179/) (2026)

## Abstract (arXiv)

Dynamic 3D reconstruction and point tracking in videos are typically treated as separate tasks, despite their deep connection. We propose St4RTrack, a feed-forward framework that simultaneously reconstructs and tracks dynamic video content in a world coordinate frame from RGB inputs. This is achieved by predicting two appropriately defined pointmaps for a pair of frames captured at different moments. Specifically, we predict both pointmaps at the same moment, in the same world, capturing both static and dynamic scene geometry while maintaining 3D correspondences. Chaining these predictions through the video sequence with respect to a reference frame naturally computes long-range correspondences, effectively combining 3D reconstruction with 3D tracking. Unlike prior methods that rely heavily on 4D ground truth supervision, we employ a novel adaptation scheme based on a reprojection loss. We establish a new extensive benchmark for world-frame reconstruction and tracking, demonstrating the effectiveness and efficiency of our unified, data-driven framework. Our code, model, and benchmark will be released.