mlsanityData to 14 Oct 2026

FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking

arXiv 2610.01750 ↗First posted 1 Oct 2026cs.CVcited by 0

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Abstract (arXiv)

Cooperative 3D tracking must integrate complementary observations across agents and time while maintaining consistent identities. When evidence integration and identity inheritance share a matching decision, errors arising from cross-view appearance differences and spatial misalignment can compromise both feature fusion and track continuity. We propose FFBL-Coop, a fuse first, bind later framework that separates instance admission from identity management. Confidence-ranked Slot Admission (CSA) allocates cooperative queries to available ego slots using confidence and spatial proximity. Unified Representation Aggregation (URA) uses cooperative semantic features and aligned anchors to guide ego-feature retrieval, refining the augmented query bank within a shared transformer decoder. After refinement, Cooperative-Priority Identity Anchoring (CPIA) combines learned association with persistent mappings to establish accepted identity assignments across frames. A shared codebook reduces transmitted payload while retaining AP and AMOTA close to the uncompressed variant. FFBL-Coop achieves AMOTA/AP of 0.611/0.548 on V2X-Seq and 0.688/0.653 on Griffin-25M. Code will be released.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 23 of its 27 references that are in the map. First posted on arXiv 1 Oct 2026.

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23 of 27 references.

References · 23

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2020Center-based 3D Object Detection and Trackingcited by 1,144
  3. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,044
  4. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 658
  5. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 552
  6. 2021MOTR: End-to-End Multiple-Object Tracking with Transformercited by 381
  7. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  8. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 315
  9. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  10. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  11. 2019F-Cooper: Feature based Cooperative Perception for Autonomous Vehicle Edge Computing System Using 3D Point Cloudscited by 171
  12. 2020When2com: Multi-Agent Perception via Communication Graph Groupingcited by 157
11 more
  1. 2022Robust Collaborative 3D Object Detection in Presence of Pose Errorscited by 129
  2. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  3. 2023Sparse4D v3: Advancing End-to-End 3D Detection and Trackingcited by 70
  4. 2024Communication-Efficient Collaborative Perception via Information Filling with Codebookcited by 68
  5. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  6. 2024ADA-Track++: End-to-End Multi-Camera 3D Multi-Object Tracking with Alternating Detection and Associationcited by 33
  7. 2025Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmarkcited by 15
  8. 2025CoopTrack: Exploring End-to-End Learning for Efficient Cooperative Sequential Perceptioncited by 12
  9. 2025Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competitioncited by 9
  10. 2025SparseCoop: Cooperative Perception with Kinematic-Grounded Queriescited by 4
  11. 2026Long-SCOPE: Fully Sparse Long-Range Cooperative 3D Perceptioncited by 1

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