# IMM-based Multiple Object Tracking using a State Prediction Neural Network

arXiv: https://arxiv.org/abs/2609.13307 · HTML: https://mlsanity.com/paper/2609.13307/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 10 of its 26 references that are in the map.
- First posted on arXiv 10 Sep 2026.

## Builds on (most cited first, 10 of 10)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Simple Online and Realtime Tracking](https://mlsanity.com/paper/1602.00763/) (2016)
- [TrackFormer: Multi-Object Tracking with Transformers](https://mlsanity.com/paper/2101.02702/) (2021)
- [RadarScenes: A Real-World Radar Point Cloud Data Set for Automotive Applications](https://mlsanity.com/paper/2104.02493/) (2021)
- [DiffMOT: A Real-time Diffusion-based Multiple Object Tracker with Non-linear Prediction](https://mlsanity.com/paper/2403.02075/) (2024)
- [RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud](https://mlsanity.com/paper/2309.09737/) (2023)
- [Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo](https://mlsanity.com/paper/2501.18942/) (2025)
- [Deep Learning-Based Robust Multi-Object Tracking via Fusion of mmWave Radar and Camera Sensors](https://mlsanity.com/paper/2407.08049/) (2024)
- [IMM-MOT: A Novel 3D Multi-object Tracking Framework with Interacting Multiple Model Filter](https://mlsanity.com/paper/2502.09672/) (2025)
- [Bayesian Approximation-Based Trajectory Prediction and Tracking with 4D Radar](https://mlsanity.com/paper/2502.01357/) (2025)

## Abstract (arXiv)

Object tracking is essential for autonomous vehicles to avoid obstacles and plan routes. Radar maintains detection performance even in adverse weather and can measure relative velocity through the Doppler effect, making it well suited for object tracking. In this paper, we propose a data-driven state PRedictor-based Interacting Multiple Model tracking method (PR-IMM) that improves nonlinear object-motion representation while preserving the stability and interpretability of physics-based motion models. The proposed method employs a transformer-based PRediction model (PR) that incorporates radar Doppler measurements to predict object displacement. The PR model is integrated into the IMM as a mode alongside the CV, CA, and CT motion models, and their prior positions are dynamically combined according to the mode probabilities. Experimental results show that PR-IMM reduces position-estimation error by 57.3% over the IMM and by 16.5% over the PR, while reducing ID switches by 25.3% and improving IDF1 by 9.6% over the IMM.