Daily Papers

Nowadays, Hearth Rate (HR) monitoring is a key feature of almost all wrist-worn devices exploiting photoplethysmography (PPG) sensors. However, arm movements affect the performance of PPG-based HR tracking. This issue is usually addressed by fusing the PPG signal with data produced by inertial measurement units. Thus, deep learning algorithms have been proposed, but they are considered too complex to deploy on wearable devices and lack the explainability of results. In this work, we present a new deep learning model, PULSE, which exploits temporal convolutions and multi-head cross-attention to improve sensor fusion's effectiveness and achieve a step towards explainability. We evaluate the performance of PULSE on three publicly available datasets, reducing the mean absolute error by 7.56% on the most extensive available dataset, PPG-DaLiA. Finally, we demonstrate the explainability of PULSE and the benefits of applying attention modules to PPG and motion data.

Photoplethysmography (PPG) is a widely adopted, non-invasive technique for monitoring cardiovascular health and physiological parameters in both consumer and clinical settings. While motion artifacts in dynamic environments have been extensively studied, suboptimal skin-sensor contact in sedentary conditions - a critical yet underexplored issue - can distort PPG waveform morphology, leading to the loss or misalignment of key features and compromising sensing accuracy. In this work, we propose CP-PPG, a novel framework that transforms Contact Pressure-distorted PPG signals into high-fidelity waveforms with ideal morphology. CP-PPG integrates a custom data collection protocol, a carefully designed signal processing pipeline, and a novel deep adversarial model trained with a custom PPG-aware loss function. We validated CP-PPG through comprehensive evaluations, including 1) morphology transformation performance on our self-collected dataset, 2) downstream physiological monitoring performance on public datasets, and 3) in-the-wild study. Extensive experiments demonstrate substantial and consistent improvements in signal fidelity (Mean Absolute Error: 0.09, 40% improvement over the original signal) as well as downstream performance across all evaluations in Heart Rate (HR), Heart Rate Variability (HRV), Respiration Rate (RR), and Blood Pressure (BP) estimation (on average, 21% improvement in HR; 41-46% in HRV; 6% in RR; and 4-5% in BP). These findings highlight the critical importance of addressing skin-sensor contact issues to enhance the reliability and effectiveness of PPG-based physiological monitoring. CP-PPG thus holds significant potential to improve the accuracy of wearable health technologies in clinical and consumer applications.

Photoplethysmography (PPG) signals, which measure changes in blood volume in the skin using light, have recently gained attention in biometric authentication because of their non-invasive acquisition, inherent liveness detection, and suitability for low-cost wearable devices. However, PPG signal quality is challenged by motion artifacts, illumination changes, and inter-subject physiological variability, making robust feature extraction and classification crucial. This study proposes a lightweight and cost-effective biometric authentication framework based on PPG signals extracted from low-frame-rate fingertip videos. The CFIHSR dataset, comprising PPG recordings from 46 subjects at a sampling rate of 14 Hz, is employed for evaluation. The raw PPG signals undergo a standard preprocessing pipeline involving baseline drift removal, motion artifact suppression using Principal Component Analysis (PCA), bandpass filtering, Fourier-based resampling, and amplitude normalization. To generate robust representations, each one-dimensional PPG segment is converted into a two-dimensional time-frequency scalogram via the Continuous Wavelet Transform (CWT), effectively capturing transient cardiovascular dynamics. We developed a hybrid deep learning model, termed CVT-ConvMixer-LSTM, by combining spatial features from the Convolutional Vision Transformer (CVT) and ConvMixer branches with temporal features from a Long Short-Term Memory network (LSTM). The experimental results on 46 subjects demonstrate an authentication accuracy of 98%, validating the robustness of the model to noise and variability between subjects. Due to its efficiency, scalability, and inherent liveness detection capability, the proposed system is well-suited for real-world mobile and embedded biometric security applications.

Photoplethysmography (PPG) is a widely used non-invasive sensing modality for continuous cardiovascular and physiological monitoring across clinical, laboratory, and wearable settings. While existing PPG datasets support a broad range of downstream tasks, they typically provide supervision in the form of numerical measurements or task-specific labels, limiting their suitability for language-based physiological reasoning and multimodal foundation models. In this work, we introduce PulseLM, a large-scale PPG-text dataset designed to bridge raw PPG waveforms and natural language through a unified, closed-ended question answering (QA) formulation. PulseLM aggregates PPG recordings from fifteen publicly available sources and harmonizes heterogeneous annotations into twelve common physiologically QA tasks. The dataset comprises 1.31 million standardized 10-second PPG segments, associated with 3.15 million question-answer pairs. We further define reproducible preprocessing, supervision, and evaluation protocols and establish baseline benchmarks using multimodal PPG-aware large language models. PulseLM provides a standardized foundation for studying multimodal physiological reasoning, cross-dataset generalization, and scalable benchmarking of PPG-based language models. The data and code can be found publicly available at: https://github.com/manhph2211/PulseLM.

With the improvement of sensor technology and significant algorithmic advances, the accuracy of remote heart rate monitoring technology has been significantly improved. Despite of the significant algorithmic advances, the performance of rPPG algorithm can degrade in the long-term, high-intensity continuous work occurred in evenings or insufficient light environments. One of the main challenges is that the lost facial details and low contrast cause the failure of detection and tracking. Also, insufficient lighting in video capturing hurts the quality of physiological signal. In this paper, we collect a large-scale dataset that was designed for remote heart rate estimation recorded with various illumination variations to evaluate the performance of the rPPG algorithm (Green, ICA, and POS). We also propose a low-light enhancement solution (technical solution) for remote heart rate estimation under the low-light condition. Using collected dataset, we found 1) face detection algorithm cannot detect faces in video captured in low light conditions; 2) A decrease in the amplitude of the pulsatile signal will lead to the noise signal to be in the dominant position; and 3) the chrominance-based method suffers from the limitation in the assumption about skin-tone will not hold, and Green and ICA method receive less influence than POS in dark illuminance environment. The proposed solution for rPPG process is effective to detect and improve the signal-to-noise ratio and precision of the pulsatile signal.

Accurate extraction of heart rate from photoplethysmography (PPG) signals remains challenging due to motion artifacts and signal degradation. Although deep learning methods trained as a data-driven inference problem offer promising solutions, they often underutilize existing knowledge from the medical and signal processing community. In this paper, we address three shortcomings of deep learning models: motion artifact removal, degradation assessment, and physiologically plausible analysis of the PPG signal. We propose KID-PPG, a knowledge-informed deep learning model that integrates expert knowledge through adaptive linear filtering, deep probabilistic inference, and data augmentation. We evaluate KID-PPG on the PPGDalia dataset, achieving an average mean absolute error of 2.85 beats per minute, surpassing existing reproducible methods. Our results demonstrate a significant performance improvement in heart rate tracking through the incorporation of prior knowledge into deep learning models. This approach shows promise in enhancing various biomedical applications by incorporating existing expert knowledge in deep learning models.

Progress in remote PhotoPlethysmoGraphy (rPPG) is limited by the critical issues of existing publicly available datasets: small size, privacy concerns with facial videos, and lack of diversity in conditions. The paper introduces a novel comprehensive large-scale multi-view video dataset for rPPG and health biomarkers estimation. Our dataset comprises 3600 synchronized video recordings from 600 subjects, captured under varied conditions (resting and post-exercise) using multiple consumer-grade cameras at different angles. To enable multimodal analysis of physiological states, each recording is paired with a 100 Hz PPG signal and extended health metrics, such as electrocardiogram, arterial blood pressure, biomarkers, temperature, oxygen saturation, respiratory rate, and stress level. Using this data, we train an efficient rPPG model and compare its quality with existing approaches in cross-dataset scenarios. The public release of our dataset and model should significantly speed up the progress in the development of AI medical assistants.

Tracking biosignals is crucial for monitoring wellness and preempting the development of severe medical conditions. Today, wearable devices can conveniently record various biosignals, creating the opportunity to monitor health status without disruption to one's daily routine. Despite widespread use of wearable devices and existing digital biomarkers, the absence of curated data with annotated medical labels hinders the development of new biomarkers to measure common health conditions. In fact, medical datasets are usually small in comparison to other domains, which is an obstacle for developing neural network models for biosignals. To address this challenge, we have employed self-supervised learning using the unlabeled sensor data collected under informed consent from the large longitudinal Apple Heart and Movement Study (AHMS) to train foundation models for two common biosignals: photoplethysmography (PPG) and electrocardiogram (ECG) recorded on Apple Watch. We curated PPG and ECG datasets from AHMS that include data from ~141K participants spanning ~3 years. Our self-supervised learning framework includes participant level positive pair selection, stochastic augmentation module and a regularized contrastive loss optimized with momentum training, and generalizes well to both PPG and ECG modalities. We show that the pre-trained foundation models readily encode information regarding participants' demographics and health conditions. To the best of our knowledge, this is the first study that builds foundation models using large-scale PPG and ECG data collected via wearable consumer devices x2013 prior works have commonly used smaller-size datasets collected in clinical and experimental settings. We believe PPG and ECG foundation models can enhance future wearable devices by reducing the reliance on labeled data and hold the potential to help the users improve their health.

In clinical practice, electrocardiography (ECG) remains the gold standard for cardiac monitoring, providing crucial insights for diagnosing a wide range of cardiovascular diseases (CVDs). However, its reliance on specialized equipment and trained personnel limits feasibility for continuous routine monitoring. Photoplethysmography (PPG) offers accessible, continuous monitoring but lacks definitive electrophysiological information, preventing conclusive diagnosis. Generative models present a promising approach to translate PPG into clinically valuable ECG signals, yet current methods face substantial challenges, including the misalignment of physiological semantics in generative models and the complexity of modeling in high-dimensional signals. To this end, we propose PPGFlowECG, a two-stage framework that aligns PPG and ECG in a shared latent space via the CardioAlign Encoder and employs latent rectified flow to generate ECGs with high fidelity and interpretability. To the best of our knowledge, this is the first study to experiment on MCMED, a newly released clinical-grade dataset comprising over 10 million paired PPG-ECG samples from more than 118,000 emergency department visits with expert-labeled cardiovascular disease annotations. Results demonstrate the effectiveness of our method for PPG-to-ECG translation and cardiovascular disease detection. Moreover, cardiologist-led evaluations confirm that the synthesized ECGs achieve high fidelity and improve diagnostic reliability, underscoring our method's potential for real-world cardiovascular screening.

Recent studies demonstrated that the average heart rate (HR) can be measured from facial videos based on non-contact remote photoplethysmography (rPPG). However for many medical applications (e.g., atrial fibrillation (AF) detection) knowing only the average HR is not sufficient, and measuring precise rPPG signals from face for heart rate variability (HRV) analysis is needed. Here we propose an rPPG measurement method, which is the first work to use deep spatio-temporal networks for reconstructing precise rPPG signals from raw facial videos. With the constraint of trend-consistency with ground truth pulse curves, our method is able to recover rPPG signals with accurate pulse peaks. Comprehensive experiments are conducted on two benchmark datasets, and results demonstrate that our method can achieve superior performance on both HR and HRV levels comparing to the state-of-the-art methods. We also achieve promising results of using reconstructed rPPG signals for AF detection and emotion recognition.

Non-contact video-based physiological measurement has many applications in health care and human-computer interaction. Practical applications require measurements to be accurate even in the presence of large head rotations. We propose the first end-to-end system for video-based measurement of heart and breathing rate using a deep convolutional network. The system features a new motion representation based on a skin reflection model and a new attention mechanism using appearance information to guide motion estimation, both of which enable robust measurement under heterogeneous lighting and major motions. Our approach significantly outperforms all current state-of-the-art methods on both RGB and infrared video datasets. Furthermore, it allows spatial-temporal distributions of physiological signals to be visualized via the attention mechanism.

This study concentrates on evaluating the efficacy of Large Language Models (LLMs) in healthcare, with a specific focus on their application in personal anomalous health monitoring. Our research primarily investigates the capabilities of LLMs in interpreting and analyzing physiological data obtained from FDA-approved devices. We conducted an extensive analysis using anomalous physiological data gathered in a simulated low-air-pressure plateau environment. This allowed us to assess the precision and reliability of LLMs in understanding and evaluating users' health status with notable specificity. Our findings reveal that LLMs exhibit exceptional performance in determining medical indicators, including a Mean Absolute Error (MAE) of less than 1 beat per minute for heart rate and less than 1% for oxygen saturation (SpO2). Furthermore, the Mean Absolute Percentage Error (MAPE) for these evaluations remained below 1%, with the overall accuracy of health assessments surpassing 85%. In image analysis tasks, such as interpreting photoplethysmography (PPG) data, our specially adapted GPT models demonstrated remarkable proficiency, achieving less than 1 bpm error in cycle count and 7.28 MAE for heart rate estimation. This study highlights LLMs' dual role as health data analysis tools and pivotal elements in advanced AI health assistants, offering personalized health insights and recommendations within the future health assistant framework.

Current foundation model for photoplethysmography (PPG) signals is challenged by the intrinsic redundancy and noise of the signal. Standard masked modeling often yields trivial solutions while contrastive methods lack morphological precision. To address these limitations, we propose a Statistical-prior Informed Generative Masking Architecture (SIGMA-PPG), a generative foundation model featuring a Prior-Guided Adversarial Masking mechanism, where a reinforcement learning-driven teacher leverages statistical priors to create challenging learning paths that prevent overfitting to noise. We also incorporate a semantic consistency constraint via vector quantization to ensure that physiologically identical waveforms (even those altered by recording artifacts or minor perturbations) map to shared indices. This enhances codebook semantic density and eliminates redundant feature structures. Pre-trained on over 120,000 hours of data, SIGMA-PPG achieves superior average performance compared to five state-of-the-art baselines across 12 diverse downstream tasks. The code is available at https://github.com/ZonghengGuo/SigmaPPG.

The COVID-19 pandemic has underscored the need for low-cost, scalable approaches to measuring contactless vital signs, either during initial triage at a healthcare facility or virtual telemedicine visits. Remote photoplethysmography (rPPG) can accurately estimate heart rate (HR) when applied to close-up videos of healthy volunteers in well-lit laboratory settings. However, results from such highly optimized laboratory studies may not be readily translated to healthcare settings. One significant barrier to the practical application of rPPG in health care is the accurate localization of the region of interest (ROI). Clinical or telemedicine visits may involve sub-optimal lighting, movement artifacts, variable camera angle, and subject distance. This paper presents an rPPG ROI selection method based on 3D facial landmarks and patient head yaw angle. We then demonstrate the robustness of this ROI selection method when coupled to the Plane-Orthogonal-to-Skin (POS) rPPG method when applied to videos of patients presenting to an Emergency Department for respiratory complaints. Our results demonstrate the effectiveness of our proposed approach in improving the accuracy and robustness of rPPG in a challenging clinical environment.

Video photoplethysmography (vPPG) is an emerging method for non-invasive and convenient measurement of physiological signals, utilizing two primary approaches: remote video PPG (rPPG) and contact video PPG (cPPG). Monitoring vitals in high-altitude environments, where heart rates tend to increase and blood oxygen levels often decrease, presents significant challenges. To address these issues, we introduce the SUMS dataset comprising 80 synchronized non-contact facial and contact finger videos from 10 subjects during exercise and oxygen recovery scenarios, capturing PPG, respiration rate (RR), and SpO2. This dataset is designed to validate video vitals estimation algorithms and compare facial rPPG with finger cPPG. Additionally, fusing videos from different positions (i.e., face and finger) reduces the mean absolute error (MAE) of SpO2 predictions by 7.6\% and 10.6\% compared to only face and only finger, respectively. In cross-subject evaluation, we achieve an MAE of less than 0.5 BPM for HR estimation and 2.5\% for SpO2 estimation, demonstrating the precision of our multi-camera fusion techniques. Our findings suggest that simultaneous training on multiple indicators, such as PPG and blood oxygen, can reduce MAE in SpO2 estimation by 17.8\%.

Remote photoplethysmography (rPPG) is a method for non-contact measurement of physiological signals from facial videos, holding great potential in various applications such as healthcare, affective computing, and anti-spoofing. Existing deep learning methods struggle to address two core issues of rPPG simultaneously: understanding the periodic pattern of rPPG among long contexts and addressing large spatiotemporal redundancy in video segments. These represent a trade-off between computational complexity and the ability to capture long-range dependencies. In this paper, we introduce RhythmMamba, a state space model-based method that captures long-range dependencies while maintaining linear complexity. By viewing rPPG as a time series task through the proposed frame stem, the periodic variations in pulse waves are modeled as state transitions. Additionally, we design multi-temporal constraint and frequency domain feed-forward, both aligned with the characteristics of rPPG time series, to improve the learning capacity of Mamba for rPPG signals. Extensive experiments show that RhythmMamba achieves state-of-the-art performance with 319% throughput and 23% peak GPU memory. The codes are available at https://github.com/zizheng-guo/RhythmMamba.

Remote photoplethysmography (rPPG) is a non-contact technique for measuring human physiological signals. Due to its convenience and non-invasiveness, it has demonstrated broad application potential in areas such as health monitoring and emotion recognition. In recent years, the release of numerous public datasets has significantly advanced the performance of rPPG algorithms under ideal lighting conditions. However, the effectiveness of current rPPG methods in realistic nighttime scenarios with dynamic lighting variations remains largely unknown. Moreover, there is a severe lack of datasets specifically designed for such challenging environments, which has substantially hindered progress in this area of research. To address this gap, we present and release a large-scale rPPG dataset collected under dynamic lighting conditions at night, named DLCN. The dataset comprises approximately 13 hours of video data and corresponding synchronized physiological signals from 98 participants, covering four representative nighttime lighting scenarios. DLCN offers high diversity and realism, making it a valuable resource for evaluating algorithm robustness in complex conditions. Built upon the proposed Happy-rPPG Toolkit, we conduct extensive experiments and provide a comprehensive analysis of the challenges faced by state-of-the-art rPPG methods when applied to DLCN. The dataset and code are publicly available at https://github.com/dalaoplan/Happp-rPPG-Toolkit.

Non-contact remote photoplethysmography (rPPG) technology enables heart rate measurement from facial videos. However, existing network models still face challenges in accu racy, robustness, and generalization capability under complex scenarios. This paper proposes an end-to-end rPPG extraction network that employs 3D convolutional neural networks to reconstruct accurate rPPG signals from raw facial videos. We introduce a differential frame fusion module that integrates differential frames with original frames, enabling frame-level representations to capture blood volume pulse (BVP) variations. Additionally, we incorporate Temporal Shift Module (TSM) with self-attention mechanisms, which effectively enhance rPPG features with minimal computational overhead. Furthermore, we propose a novel dynamic hybrid loss function that provides stronger supervision for the network, effectively mitigating over fitting. Comprehensive experiments were conducted on not only the PURE and UBFC-rPPG datasets but also the challenging MMPD dataset under complex scenarios, involving both intra dataset and cross-dataset evaluations, which demonstrate the superior robustness and generalization capability of our network. Specifically, after training on PURE, our model achieved a mean absolute error (MAE) of 7.58 on the MMPD test set, outperforming the state-of-the-art models.

Large language models (LLMs) have captured significant interest from both academia and industry due to their impressive performance across various textual tasks. However, the potential of LLMs to analyze physiological time-series data remains an emerging research field. Particularly, there is a notable gap in the utilization of LLMs for analyzing wearable biosignals to achieve cuffless blood pressure (BP) measurement, which is critical for the management of cardiovascular diseases. This paper presents the first work to explore the capacity of LLMs to perform cuffless BP estimation based on wearable biosignals. We extracted physiological features from electrocardiogram (ECG) and photoplethysmogram (PPG) signals and designed context-enhanced prompts by combining these features with BP domain knowledge and user information. Subsequently, we adapted LLMs to BP estimation tasks through fine-tuning. To evaluate the proposed approach, we conducted assessments of ten advanced LLMs using a comprehensive public dataset of wearable biosignals from 1,272 participants. The experimental results demonstrate that the optimally fine-tuned LLM significantly surpasses conventional task-specific baselines, achieving an estimation error of 0.00 pm 9.25 mmHg for systolic BP and 1.29 pm 6.37 mmHg for diastolic BP. Notably, the ablation studies highlight the benefits of our context enhancement strategy, leading to an 8.9% reduction in mean absolute error for systolic BP estimation. This paper pioneers the exploration of LLMs for cuffless BP measurement, providing a potential solution to enhance the accuracy of cuffless BP measurement.

Human health can be critically affected by cardiovascular diseases, such as hypertension, arrhythmias, and stroke. Heart rate and blood pressure are important biometric information for the monitoring of cardiovascular system and early diagnosis of cardiovascular diseases. Existing methods for estimating the heart rate are based on electrocardiography and photoplethyomography, which require contacting the sensor to the skin surface. Moreover, catheter and cuff-based methods for measuring blood pressure cause inconvenience and have limited applicability. Therefore, in this thesis, we propose a vision-based method for estimating the heart rate and blood pressure. This thesis proposes a 2-stage deep learning framework consisting of a dual remote photoplethysmography network (DRP-Net) and bounded blood pressure network (BBP-Net). In the first stage, DRP-Net infers remote photoplethysmography (rPPG) signals for the acral and facial regions, and these phase-shifted rPPG signals are utilized to estimate the heart rate. In the second stage, BBP-Net integrates temporal features and analyzes phase discrepancy between the acral and facial rPPG signals to estimate SBP and DBP values. To improve the accuracy of estimating the heart rate, we employed a data augmentation method based on a frame interpolation model. Moreover, we designed BBP-Net to infer blood pressure within a predefined range by incorporating a scaled sigmoid function. Our method resulted in estimating the heart rate with the mean absolute error (MAE) of 1.78 BPM, reducing the MAE by 34.31 % compared to the recent method, on the MMSE-HR dataset. The MAE for estimating the systolic blood pressure (SBP) and diastolic blood pressure (DBP) were 10.19 mmHg and 7.09 mmHg. On the V4V dataset, the MAE for the heart rate, SBP, and DBP were 3.83 BPM, 13.64 mmHg, and 9.4 mmHg, respectively.

Remote photoplethysmography (rPPG) can remotely extract physiological signals from RGB video, which has many advantages in detecting heart rate, such as low cost and no invasion to patients. The existing rPPG model is usually based on the transformer module, which has low computation efficiency. Recently, the Mamba model has garnered increasing attention due to its efficient performance in natural language processing tasks, demonstrating potential as a substitute for transformer-based algorithms. However, the Mambaout model and its variants prove that the SSM module, which is the core component of the Mamba model, is unnecessary for the vision task. Therefore, we hope to prove the feasibility of using the Mambaout-based module to remotely learn the heart rate. Specifically, we propose a novel rPPG algorithm called uncomplicated and enhanced learning capability rPPG (TYrPPG). This paper introduces an innovative gated video understanding block (GVB) designed for efficient analysis of RGB videos. Based on the Mambaout structure, this block integrates 2D-CNN and 3D-CNN to enhance video understanding for analysis. In addition, we propose a comprehensive supervised loss function (CSL) to improve the model's learning capability, along with its weakly supervised variants. The experiments show that our TYrPPG can achieve state-of-the-art performance in commonly used datasets, indicating its prospects and superiority in remote heart rate estimation. The source code is available at https://github.com/Taixi-CHEN/TYrPPG.

Camera-based physiological measurement is a fast growing field of computer vision. Remote photoplethysmography (rPPG) utilizes imaging devices (e.g., cameras) to measure the peripheral blood volume pulse (BVP) via photoplethysmography, and enables cardiac measurement via webcams and smartphones. However, the task is non-trivial with important pre-processing, modeling, and post-processing steps required to obtain state-of-the-art results. Replication of results and benchmarking of new models is critical for scientific progress; however, as with many other applications of deep learning, reliable codebases are not easy to find or use. We present a comprehensive toolbox, rPPG-Toolbox, that contains unsupervised and supervised rPPG models with support for public benchmark datasets, data augmentation, and systematic evaluation: https://github.com/ubicomplab/rPPG-Toolbox

Remote photoplethysmography (rPPG), enabling non-contact physiological monitoring through facial light reflection analysis, faces critical computational bottlenecks as deep learning introduces performance gains at the cost of prohibitive resource demands. This paper proposes ME-rPPG, a memory-efficient algorithm built on temporal-spatial state space duality, which resolves the trilemma of model scalability, cross-dataset generalization, and real-time constraints. Leveraging a transferable state space, ME-rPPG efficiently captures subtle periodic variations across facial frames while maintaining minimal computational overhead, enabling training on extended video sequences and supporting low-latency inference. Achieving cross-dataset MAEs of 5.38 (MMPD), 0.70 (VitalVideo), and 0.25 (PURE), ME-rPPG outperforms all baselines with improvements ranging from 21.3% to 60.2%. Our solution enables real-time inference with only 3.6 MB memory usage and 9.46 ms latency -- surpassing existing methods by 19.5%-49.7% accuracy and 43.2% user satisfaction gains in real-world deployments. The code and demos are released for reproducibility on https://health-hci-group.github.io/ME-rPPG-demo/.

With the increasing availability of wearable devices, photoplethysmography (PPG) has emerged as a promising non-invasive tool for monitoring human hemodynamics. We propose a deep learning framework to estimate vascular age (AI-vascular age) from PPG signals, incorporating a distribution-aware loss to address biases caused by imbalanced data. The model was developed using data from the UK Biobank (UKB), with 98,672 participants in the development cohort and 113,559 participants (144,683 data pairs) for clinical evaluation. After adjusting for key confounders, individuals with a vascular age gap (AI-vascular age minus calendar age) exceeding 9 years had a significantly higher risk of major adverse cardiovascular and cerebrovascular events (MACCE) (HR = 2.37, p < 0.005) and secondary outcomes, including diabetes (HR = 2.69, p < 0.005), hypertension (HR = 2.88, p < 0.005), coronary heart disease (HR = 2.20, p < 0.005), heart failure (HR = 2.15, p < 0.005), myocardial infarction (HR = 2.51, p < 0.005), stroke (HR = 2.55, p < 0.005), and all-cause mortality (HR = 2.51, p < 0.005). Conversely, participants with a vascular age gap below -9 years exhibited a significantly lower incidence of these outcomes. We further evaluated the longitudinal applicability of AI-vascular age using serial PPG data from the UKB, demonstrating its value in risk stratification by leveraging AI-vascular age at two distinct time points to predict future MACCE incidence. External validation was performed on a MIMIC-III-derived cohort (n = 2,343), where each one-year increase in vascular age gap was significantly associated with elevated in-hospital mortality risk (OR = 1.02, p < 0.005). In conclusion, our study establishes AI-vascular age as a novel, non-invasive digital biomarker for cardiovascular health assessment.

Camera-based vital signs monitoring in recent years has attracted more and more researchers and the results are promising. However, a few research works focus on heart rate extraction under extremely low illumination environments. In this paper, we propose a novel framework for remote heart rate estimation under low-light conditions. This method uses singular spectrum analysis (SSA) to decompose the filtered signal into several reconstructed components. A spectral masking algorithm is utilized to refine the preliminary candidate components on the basis of a reference heart rate. The contributive components are fused into the final pulse signal. To evaluate the performance of our framework in low-light conditions, the proposed approach is tested on a large-scale multi-illumination HR dataset (named MIHR). The test results verify that the proposed method has stronger robustness to low illumination than state-of-the-art methods, effectively improving the signal-to-noise ratio and heart rate estimation precision. We further perform experiments on the PUlse RatE detection (PURE) dataset which is recorded under normal light conditions to demonstrate the generalization of our method. The experiment results show that our method can stably detect pulse rate and achieve comparative results. The proposed method pioneers a new solution to the remote heart rate estimation in low-light conditions.

Photoplethysmogram (PPG) and electrocardiogram (ECG) are commonly recorded in intesive care unit (ICU) and operating room (OR). However, the high incidence of poor, incomplete, and inconsistent signal quality, can lead to false alarms or diagnostic inaccuracies. The methods explored so far suffer from limited generalizability, reliance on extensive labeled data, and poor cross-task transferability. To overcome these challenges, we introduce QualityFM, a novel multimodal foundation model for these physiological signals, designed to acquire a general-purpose understanding of signal quality. Our model is pre-trained on an large-scale dataset comprising over 21 million 30-second waveforms and 179,757 hours of data. Our approach involves a dual-track architecture that processes paired physiological signals of differing quality, leveraging a self-distillation strategy where an encoder for high-quality signals is used to guide the training of an encoder for low-quality signals. To efficiently handle long sequential signals and capture essential local quasi-periodic patterns, we integrate a windowed sparse attention mechanism within our Transformer-based model. Furthermore, a composite loss function, which combines direct distillation loss on encoder outputs with indirect reconstruction loss based on power and phase spectra, ensures the preservation of frequency-domain characteristics of the signals. We pre-train three models with varying parameter counts (9.6 M to 319 M) and demonstrate their efficacy and practical value through transfer learning on three distinct clinical tasks: false alarm of ventricular tachycardia detection, the identification of atrial fibrillation and the estimation of arterial blood pressure (ABP) from PPG and ECG signals.

Accurate motion estimation for tracking deformable tissues in echocardiography is essential for precise cardiac function measurements. While traditional methods like block matching or optical flow struggle with intricate cardiac motion, modern point tracking approaches remain largely underexplored in this domain. This work investigates the potential of state-of-the-art (SOTA) point tracking methods for ultrasound, with a focus on echocardiography. Although these novel approaches demonstrate strong performance in general videos, their effectiveness and generalizability in echocardiography remain limited. By analyzing cardiac motion throughout the heart cycle in real B-mode ultrasound videos, we identify that a directional motion bias across different views is affecting the existing training strategies. To mitigate this, we refine the training procedure and incorporate a set of tailored augmentations to reduce the bias and enhance tracking robustness and generalization through impartial cardiac motion. We also propose a lightweight network leveraging multi-scale cost volumes from spatial context alone to challenge the advanced spatiotemporal point tracking models. Experiments demonstrate that fine-tuning with our strategies significantly improves models' performances over their baselines, even for out-of-distribution (OOD) cases. For instance, EchoTracker boosts overall position accuracy by 60.7% and reduces median trajectory error by 61.5% across heart cycle phases. Interestingly, several point tracking models fail to outperform our proposed simple model in terms of tracking accuracy and generalization, reflecting their limitations when applied to echocardiography. Nevertheless, clinical evaluation reveals that these methods improve GLS measurements, aligning more closely with expert-validated, semi-automated tools and thus demonstrating better reproducibility in real-world applications.

Unobservable physiological signals enhance biometric authentication systems. Photoplethysmography (PPG) signals are convenient owning to its ease of measurement and are usually well protected against remote adversaries in authentication. Any leaked PPG signals help adversaries compromise the biometric authentication systems, and the advent of remote PPG (rPPG) enables adversaries to acquire PPG signals through restoration. While potentially dangerous, rPPG-based attacks are overlooked because existing methods require the victim's PPG signals. This paper proposes a novel spoofing attack approach that uses the waveforms of rPPG signals extracted from video clips to fool the PPG-based biometric authentication. We develop a new PPG restoration model that does not require leaked PPG signals for adversarial attacks. Test results on state-of-art PPG-based biometric authentication show that the signals recovered through rPPG pose a severe threat to PPG-based biometric authentication.

Robust and unobtrusive in-vehicle physiological monitoring is crucial for ensuring driving safety and user experience. While remote physiological measurement (RPM) offers a promising non-invasive solution, its translation to real-world driving scenarios is critically constrained by the scarcity of comprehensive datasets. Existing resources are often limited in scale, modality diversity, the breadth of biometric annotations, and the range of captured conditions, thereby omitting inherent real-world challenges in driving. Here, we present PhysDrive, the first large-scale multimodal dataset for contactless in-vehicle physiological sensing with dedicated consideration on various modality settings and driving factors. PhysDrive collects data from 48 drivers, including synchronized RGB, near-infrared camera, and raw mmWave radar data, accompanied with six synchronized ground truths (ECG, BVP, Respiration, HR, RR, and SpO2). It covers a wide spectrum of naturalistic driving conditions, including driver motions, dynamic natural light, vehicle types, and road conditions. We extensively evaluate both signal-processing and deep-learning methods on PhysDrive, establishing a comprehensive benchmark across all modalities, and release full open-source code with compatibility for mainstream public toolboxes. We envision PhysDrive will serve as a foundational resource and accelerate research on multimodal driver monitoring and smart-cockpit systems.

LiDAR-based human motion capture has garnered significant interest in recent years for its practicability in large-scale and unconstrained environments. However, most methods rely on cleanly segmented human point clouds as input, the accuracy and smoothness of their motion results are compromised when faced with noisy data, rendering them unsuitable for practical applications. To address these limitations and enhance the robustness and precision of motion capture with noise interference, we introduce LiveHPS++, an innovative and effective solution based on a single LiDAR system. Benefiting from three meticulously designed modules, our method can learn dynamic and kinematic features from human movements, and further enable the precise capture of coherent human motions in open settings, making it highly applicable to real-world scenarios. Through extensive experiments, LiveHPS++ has proven to significantly surpass existing state-of-the-art methods across various datasets, establishing a new benchmark in the field.

Single object tracking in satellite videos is inherently challenged by small target, blurred background, large aspect ratio changes, and frequent visual occlusions. These constraints often cause appearance-based trackers to accumulate errors and lose targets irreversibly. To systematically mitigate both spatial ambiguities and temporal information loss, we propose SiamGM, a novel geometry-aware and motion-guided Siamese network. From a spatial perspective, we introduce an Inter-Frame Graph Attention (IFGA) module, closely integrated with an Aspect Ratio-Constrained Label Assignment (LA) method, establishing fine-grained topological correspondences and explicitly preventing surrounding background noise. From a temporal perspective, we introduce the Motion Vector-Guided Online Tracking Optimization method. By adopting the Normalized Peak-to-Sidelobe Ratio (nPSR) as a dynamic confidence indicator, we propose an Online Motion Model Refinement (OMMR) strategy to utilize historical trajectory information. Evaluations on two challenging SatSOT and SV248S benchmarks confirm that SiamGM outperforms most state-of-the-art trackers in both precision and success metrics. Notably, the proposed components of SiamGM introduce virtually no computational overhead, enabling real-time tracking at 130 frames per second (FPS). Codes and tracking results are available at https://github.com/wenzx18/SiamGM.

Human-computer interaction increasingly demands systems that recognize not only explicit user inputs but also implicit emotional states. While substantial progress has been made in affective computing, most emotion recognition systems rely on cloud-based inference, introducing privacy vulnerabilities and latency constraints unsuitable for real-time applications. This work presents a comprehensive evaluation of machine learning architectures for on-device emotion recognition from wrist-based photoplethysmography (PPG), systematically comparing different models spanning classical ensemble methods, deep neural networks, and transformers on the WESAD stress detection dataset. Results demonstrate that classical ensemble methods substantially outperform deep learning on small physiological datasets, with ExtraTrees achieving F1 = 0.826 on combined features and F1 = 0.623 on wrist-only features, compared to transformers achieving only F1 = 0.509-0.577. We deploy the wrist-only ExtraTrees model optimized via ONNX conversion, achieving a 4.08 MB footprint, 0.05 ms inference latency, and 152x speedup over the original implementation. Furthermore, ONNX optimization yields a 30.5% average storage reduction and 40.1x inference speedup, highlighting the feasibility of privacy-preserving on-device emotion recognition for real-world wearables.

Large-scale pre-trained models (PTMs) such as BERT and GPT have recently achieved great success in Natural Language Processing and Computer Vision domains. However, the development of PTMs on healthcare time-series data is lagging behind.This underscores the limitations of the existing transformer-based architectures, particularly their scalability to handle large-scale time series and ability to capture long-term temporal dependencies. In this study, we present Timely Generative Pre-trained Transformer (TimelyGPT). TimelyGPT employs an extrapolatable position (xPos) embedding to encode trend and periodic patterns into time-series representations. It also integrates recurrent attention and temporal convolution modules to effectively capture global-local temporal dependencies. We evaluated TimelyGPT on two large-scale healthcare time series datasets corresponding to continuous biosignals and irregularly-sampled time series, respectively. Our experiments show that during pre-training, TimelyGPT excels in learning time-series representations from continuously monitored biosignals and irregularly-sampled time series data commonly observed in longitudinal electronic health records (EHRs). In forecasting continuous biosignals, TimelyGPT achieves accurate extrapolation up to 6,000 timesteps of body temperature during the sleep stage transition, given a short look-up window (i.e., prompt) containing only 2,000 timesteps. For irregularly-sampled time series, TimelyGPT with a proposed time-specific inference demonstrates high top recall scores in predicting future diagnoses using early diagnostic records, effectively handling irregular intervals between clinical records. Together, we envision TimelyGPT to be useful in a broad spectrum of health domains, including long-term patient health state forecasting and patient risk trajectory prediction.

We present a deeply integrated method of exploiting low-cost gyroscopes to improve general purpose feature tracking. Most previous methods use gyroscopes to initialize and bound the search for features. In contrast, we use them to regularize the tracking energy function so that they can directly assist in the tracking of ambiguous and poor-quality features. We demonstrate that our simple technique offers significant improvements in performance over conventional template-based tracking methods, and is in fact competitive with more complex and computationally expensive state-of-the-art trackers, but at a fraction of the computational cost. Additionally, we show that the practice of initializing template-based feature trackers like KLT (Kanade-Lucas-Tomasi) using gyro-predicted optical flow offers no advantage over using a careful optical-only initialization method, suggesting that some deeper level of integration, like the method we propose, is needed in order to realize a genuine improvement in tracking performance from these inertial sensors.

Visible-light cameras can capture subtle physiological biomarkers without physical contact with the subject. We present the Multi-Site Physiological Monitoring (MSPM) dataset, which is the first dataset collected to support the study of simultaneous camera-based vital signs estimation from multiple locations on the body. MSPM enables research on remote photoplethysmography (rPPG), respiration rate, and pulse transit time (PTT); it contains ground-truth measurements of pulse oximetry (at multiple body locations) and blood pressure using contacting sensors. We provide thorough experiments demonstrating the suitability of MSPM to support research on rPPG, respiration rate, and PTT. Cross-dataset rPPG experiments reveal that MSPM is a challenging yet high quality dataset, with intra-dataset pulse rate mean absolute error (MAE) below 4 beats per minute (BPM), and cross-dataset pulse rate MAE below 2 BPM in certain cases. Respiration experiments find a MAE of 1.09 breaths per minute by extracting motion features from the chest. PTT experiments find that across the pairs of different body sites, there is high correlation between remote PTT and contact-measured PTT, which facilitates the possibility for future camera-based PTT research.

Understanding the interaction of neural and cardiac systems during cognitive activity is critical to advancing physiological computing. Although EEG has been the gold standard for assessing mental workload, its limited portability restricts its real-world use. Widely available ECG through wearable devices proposes a pragmatic alternative. This research investigates whether ECG signals can reliably reflect cognitive load and serve as proxies for EEG-based indicators. In this work, we present multimodal data acquired from two different paradigms involving working-memory and passive-listening tasks. For each modality, we extracted ECG time-domain HRV metrics and Catch22 descriptors against EEG spectral and Catch22 features, respectively. We propose a cross-modal XGBoost framework to project the ECG features onto EEG-representative cognitive spaces, thereby allowing workload inferences using only ECG. Our results show that ECG-derived projections expressively capture variation in cognitive states and provide good support for accurate classification. Our findings underpin ECG as an interpretable, real-time, wearable solution for everyday cognitive monitoring.

We propose two novel purpose-built deep learning (DL) models for synthesis of the arterial blood pressure (ABP) waveform in a cuff-less manner, using a single-site photoplethysmography (PPG) signal. We utilize the public UCI dataset on cuff-less blood pressure (CLBP) estimation to train and evaluate our DL models. Firstly, we implement a transformer model that incorporates positional encoding, multi-head attention, layer normalization, and dropout techniques, and synthesizes the ABP waveform with a mean absolute error (MAE) of 14. Secondly, we implement a frequency-domain (FD) learning approach where we first obtain the discrete cosine transform (DCT) coefficients of the PPG and ABP signals corresponding to two cardiac cycles, and then learn a linear/non-linear (L/NL) regression between them. We learn that the FD L/NL regression model outperforms the transformer model by achieving an MAE of 11.87 and 8.01, for diastolic blood pressure (DBP) and systolic blood pressure (SBP), respectively. Our FD L/NL regression model also fulfills the AAMI criterion of utilizing data from more than 85 subjects, and achieves grade B by the BHS criterion.

We are living in a world surrounded by diverse and "smart" devices with rich modalities of sensing ability. Conveniently capturing the interactions between us humans and these objects remains far-reaching. In this paper, we present I'm-HOI, a monocular scheme to faithfully capture the 3D motions of both the human and object in a novel setting: using a minimal amount of RGB camera and object-mounted Inertial Measurement Unit (IMU). It combines general motion inference and category-aware refinement. For the former, we introduce a holistic human-object tracking method to fuse the IMU signals and the RGB stream and progressively recover the human motions and subsequently the companion object motions. For the latter, we tailor a category-aware motion diffusion model, which is conditioned on both the raw IMU observations and the results from the previous stage under over-parameterization representation. It significantly refines the initial results and generates vivid body, hand, and object motions. Moreover, we contribute a large dataset with ground truth human and object motions, dense RGB inputs, and rich object-mounted IMU measurements. Extensive experiments demonstrate the effectiveness of I'm-HOI under a hybrid capture setting. Our dataset and code will be released to the community.

Time-series foundation models excel at tasks like forecasting across diverse data types by leveraging informative waveform representations. Wearable sensing data, however, pose unique challenges due to their variability in patterns and frequency bands, especially for healthcare-related outcomes. The main obstacle lies in crafting generalizable representations that adapt efficiently across heterogeneous sensing configurations and applications. To address this, we propose NormWear, the first multi-modal and ubiquitous foundation model designed to extract generalized and informative representations from wearable sensing data. Specifically, we design a channel-aware attention mechanism with a shared special liaison [CLS] token to detect signal patterns in both intra-sensor and inter-sensors. This helps the model to extract more meaningful information considering both time series themselves and the relationships between input sensors. This helps the model to be widely compatible with various sensors settings. NormWear is pretrained on a diverse set of physiological signals, including PPG, ECG, EEG, GSR, and IMU, from various public datasets. Our model shows exceptional generalizability across 11 public wearable sensing datasets, spanning 18 applications in mental health, body state inference, vital sign estimation, and disease risk evaluation. It consistently outperforms competitive baselines under zero-shot, partial-shot, and full-shot settings, indicating broad applicability in real-world health applications.

Multi-object tracking (MOT) in sports is highly challenging due to irregular player motion, uniform appearances, and frequent occlusions. These difficulties are further exacerbated by the geometric distortion and extreme scale variation introduced by static fisheye cameras. In this work, we present GTATrack, a hierarchical tracking framework that win first place in the SoccerTrack Challenge 2025. GTATrack integrates two core components: Deep Expansion IoU (Deep-EIoU) for motion-agnostic online association and Global Tracklet Association (GTA) for trajectory-level refinement. This two-stage design enables both robust short-term matching and long-term identity consistency. Additionally, a pseudo-labeling strategy is used to boost detector recall on small and distorted targets. The synergy between local association and global reasoning effectively addresses identity switches, occlusions, and tracking fragmentation. Our method achieved a winning HOTA score of 0.60 and significantly reduced false positives to 982, demonstrating state-of-the-art accuracy in fisheye-based soccer tracking. Our code is available at https://github.com/ron941/GTATrack-STC2025.

Harnessing low-light enhancement and domain adaptation, nighttime UAV tracking has made substantial strides. However, over-reliance on image enhancement, limited high-quality nighttime data, and a lack of integration between daytime and nighttime trackers hinder the development of an end-to-end trainable framework. Additionally, current ViT-based trackers demand heavy computational resources due to their reliance on the self-attention mechanism. In this paper, we propose a novel pure Mamba-based tracking framework (MambaNUT) that employs a state space model with linear complexity as its backbone, incorporating a single-stream architecture that integrates feature learning and template-search coupling within Vision Mamba. We introduce an adaptive curriculum learning (ACL) approach that dynamically adjusts sampling strategies and loss weights, thereby improving the model's ability of generalization. Our ACL is composed of two levels of curriculum schedulers: (1) sampling scheduler that transforms the data distribution from imbalanced to balanced, as well as from easier (daytime) to harder (nighttime) samples; (2) loss scheduler that dynamically assigns weights based on the size of the training set and IoU of individual instances. Exhaustive experiments on multiple nighttime UAV tracking benchmarks demonstrate that the proposed MambaNUT achieves state-of-the-art performance while requiring lower computational costs. The code will be available at https://github.com/wuyou3474/MambaNUT.

In this paper, we present a novel benchmark, GSOT3D, that aims at facilitating development of generic 3D single object tracking (SOT) in the wild. Specifically, GSOT3D offers 620 sequences with 123K frames, and covers a wide selection of 54 object categories. Each sequence is offered with multiple modalities, including the point cloud (PC), RGB image, and depth. This allows GSOT3D to support various 3D tracking tasks, such as single-modal 3D SOT on PC and multi-modal 3D SOT on RGB-PC or RGB-D, and thus greatly broadens research directions for 3D object tracking. To provide highquality per-frame 3D annotations, all sequences are labeled manually with multiple rounds of meticulous inspection and refinement. To our best knowledge, GSOT3D is the largest benchmark dedicated to various generic 3D object tracking tasks. To understand how existing 3D trackers perform and to provide comparisons for future research on GSOT3D, we assess eight representative point cloud-based tracking models. Our evaluation results exhibit that these models heavily degrade on GSOT3D, and more efforts are required for robust and generic 3D object tracking. Besides, to encourage future research, we present a simple yet effective generic 3D tracker, named PROT3D, that localizes the target object via a progressive spatial-temporal network and outperforms all current solutions by a large margin. By releasing GSOT3D, we expect to advance further 3D tracking in future research and applications. Our benchmark and model as well as the evaluation results will be publicly released at our webpage https://github.com/ailovejinx/GSOT3D.

Accurate classification of sleep stages from less obtrusive sensor measurements such as the electrocardiogram (ECG) or photoplethysmogram (PPG) could enable important applications in sleep medicine. Existing approaches to this problem have typically used deep learning models designed and trained to operate on one or more specific input signals. However, the datasets used to develop these models often do not contain the same sets of input signals. Some signals, particularly PPG, are much less prevalent than others, and this has previously been addressed with techniques such as transfer learning. Additionally, only training on one or more fixed modalities precludes cross-modal information transfer from other sources, which has proved valuable in other problem domains. To address this, we introduce wav2sleep, a unified model designed to operate on variable sets of input signals during training and inference. After jointly training on over 10,000 overnight recordings from six publicly available polysomnography datasets, including SHHS and MESA, wav2sleep outperforms existing sleep stage classification models across test-time input combinations including ECG, PPG, and respiratory signals.

Group Activity Recognition (GAR) is well studied on the video modality for surveillance and indoor team sports (e.g., volleyball, basketball). Yet, other modalities such as agent positions and trajectories over time, i.e. tracking, remain comparatively under-explored despite being compact, agent-centric signals that explicitly encode spatial interactions. Understanding whether pixel (video) or position (tracking) modalities leads to better group activity recognition is therefore important to drive further research on the topic. However, no standardized benchmark currently exists that aligns broadcast video and tracking data for the same group activities, leading to a lack of apples-to-apples comparison between these modalities for GAR. In this work, we introduce SoccerNet-GAR, a multimodal dataset built from the 64 matches of the football World Cup 2022. Specifically, the broadcast videos and player tracking modalities for 94{,}285 group activities are synchronized and annotated with 10 categories. Furthermore, we define a unified evaluation protocol to benchmark two strong unimodal approaches: (i) a competitive video-based classifiers and (ii) a tracking-based classifiers leveraging graph neural networks. In particular, our novel role-aware graph architecture for tracking-based GAR directly encodes tactical structure through positional edges and temporal attention. Our tracking model achieves 67.2% balanced accuracy compared to 58.1% for the best video baseline, while training 4.25 times faster with 438 times fewer parameters (197K \vs 86.3M). This study provides new insights into the relative strengths of pixels and positions for group activity recognition. Overall, it highlights the importance of modality choice and role-aware modeling for GAR.

We present HealthGPT, a powerful Medical Large Vision-Language Model (Med-LVLM) that integrates medical visual comprehension and generation capabilities within a unified autoregressive paradigm. Our bootstrapping philosophy is to progressively adapt heterogeneous comprehension and generation knowledge to pre-trained large language models (LLMs). This is achieved through a novel heterogeneous low-rank adaptation (H-LoRA) technique, which is complemented by a tailored hierarchical visual perception approach and a three-stage learning strategy. To effectively learn the HealthGPT, we devise a comprehensive medical domain-specific comprehension and generation dataset called VL-Health. Experimental results demonstrate exceptional performance and scalability of HealthGPT in medical visual unified tasks. Our project can be accessed at https://github.com/DCDmllm/HealthGPT.

360{\deg} images can provide an omnidirectional field of view which is important for stable and long-term scene perception. In this paper, we explore 360{\deg} images for visual object tracking and perceive new challenges caused by large distortion, stitching artifacts, and other unique attributes of 360{\deg} images. To alleviate these problems, we take advantage of novel representations of target localization, i.e., bounding field-of-view, and then introduce a general 360 tracking framework that can adopt typical trackers for omnidirectional tracking. More importantly, we propose a new large-scale omnidirectional tracking benchmark dataset, 360VOT, in order to facilitate future research. 360VOT contains 120 sequences with up to 113K high-resolution frames in equirectangular projection. The tracking targets cover 32 categories in diverse scenarios. Moreover, we provide 4 types of unbiased ground truth, including (rotated) bounding boxes and (rotated) bounding field-of-views, as well as new metrics tailored for 360{\deg} images which allow for the accurate evaluation of omnidirectional tracking performance. Finally, we extensively evaluated 20 state-of-the-art visual trackers and provided a new baseline for future comparisons. Homepage: https://360vot.hkustvgd.com

Existing visual tracking methods typically take an image patch as the reference of the target to perform tracking. However, a single image patch cannot provide a complete and precise concept of the target object as images are limited in their ability to abstract and can be ambiguous, which makes it difficult to track targets with drastic variations. In this paper, we propose the CiteTracker to enhance target modeling and inference in visual tracking by connecting images and text. Specifically, we develop a text generation module to convert the target image patch into a descriptive text containing its class and attribute information, providing a comprehensive reference point for the target. In addition, a dynamic description module is designed to adapt to target variations for more effective target representation. We then associate the target description and the search image using an attention-based correlation module to generate the correlated features for target state reference. Extensive experiments on five diverse datasets are conducted to evaluate the proposed algorithm and the favorable performance against the state-of-the-art methods demonstrates the effectiveness of the proposed tracking method.

Cardiac biosignals, such as electrocardiograms (ECG) and photoplethysmograms (PPG), are of paramount importance for the diagnosis, prevention, and management of cardiovascular diseases, and have been extensively used in a variety of clinical tasks. Conventional deep learning approaches for analyzing these signals typically rely on homogeneous datasets and static bespoke models, limiting their robustness and generalizability across diverse clinical settings and acquisition protocols. In this study, we present a cardiac sensing foundation model (CSFM) that leverages advanced transformer architectures and a generative, masked pretraining strategy to learn unified representations from vast, heterogeneous health records. Our model is pretrained on an innovative multi-modal integration of data from multiple large-scale datasets (including MIMIC-III-WDB, MIMIC-IV-ECG, and CODE), comprising cardiac signals and the corresponding clinical or machine-generated text reports from approximately 1.7 million individuals. We demonstrate that the embeddings derived from our CSFM not only serve as effective feature extractors across diverse cardiac sensing scenarios, but also enable seamless transfer learning across varying input configurations and sensor modalities. Extensive evaluations across diagnostic tasks, demographic information recognition, vital sign measurement, clinical outcome prediction, and ECG question answering reveal that CSFM consistently outperforms traditional one-modal-one-task approaches. Notably, CSFM exhibits robust performance across multiple ECG lead configurations from standard 12-lead systems to single-lead setups, and in scenarios where only ECG, only PPG, or a combination thereof is available. These findings highlight the potential of CSFM as a versatile and scalable solution, for comprehensive cardiac monitoring.

Sleep is an essential component of human physiology, contributing significantly to overall health and quality of life. Accurate sleep staging and disorder detection are crucial for assessing sleep quality. Studies in the literature have proposed PSG-based approaches and machine-learning methods utilizing single-modality signals. However, existing methods often lack multimodal, multilabel frameworks and address sleep stages and disorders classification separately. In this paper, we propose a 1D-Vision Transformer for simultaneous classification of sleep stages and sleep disorders. Our method exploits the sleep disorders' correlation with specific sleep stage patterns and performs a simultaneous identification of a sleep stage and sleep disorder. The model is trained and tested using multimodal-multilabel sensory data (including photoplethysmogram, respiratory flow, and respiratory effort signals). The proposed method shows an overall accuracy (cohen's Kappa) of 78% (0.66) for five-stage sleep classification and 74% (0.58) for sleep apnea classification. Moreover, we analyzed the encoder attention weights to clarify our models' predictions and investigate the influence different features have on the models' outputs. The result shows that identified patterns, such as respiratory troughs and peaks, make a higher contribution to the final classification process.

We present TrackGS, a novel method to integrate global feature tracks with 3D Gaussian Splatting (3DGS) for COLMAP-free novel view synthesis. While 3DGS delivers impressive rendering quality, its reliance on accurate precomputed camera parameters remains a significant limitation. Existing COLMAP-free approaches depend on local constraints that fail in complex scenarios. Our key innovation lies in leveraging feature tracks to establish global geometric constraints, enabling simultaneous optimization of camera parameters and 3D Gaussians. Specifically, we: (1) introduce track-constrained Gaussians that serve as geometric anchors, (2) propose novel 2D and 3D track losses to enforce multi-view consistency, and (3) derive differentiable formulations for camera intrinsics optimization. Extensive experiments on challenging real-world and synthetic datasets demonstrate state-of-the-art performance, with much lower pose error than previous methods while maintaining superior rendering quality. Our approach eliminates the need for COLMAP preprocessing, making 3DGS more accessible for practical applications.

For human-centric large-scale scenes, fine-grained modeling for 3D human global pose and shape is significant for scene understanding and can benefit many real-world applications. In this paper, we present LiveHPS, a novel single-LiDAR-based approach for scene-level human pose and shape estimation without any limitation of light conditions and wearable devices. In particular, we design a distillation mechanism to mitigate the distribution-varying effect of LiDAR point clouds and exploit the temporal-spatial geometric and dynamic information existing in consecutive frames to solve the occlusion and noise disturbance. LiveHPS, with its efficient configuration and high-quality output, is well-suited for real-world applications. Moreover, we propose a huge human motion dataset, named FreeMotion, which is collected in various scenarios with diverse human poses, shapes and translations. It consists of multi-modal and multi-view acquisition data from calibrated and synchronized LiDARs, cameras, and IMUs. Extensive experiments on our new dataset and other public datasets demonstrate the SOTA performance and robustness of our approach. We will release our code and dataset soon.

Accurate, continuous out-of-hospital electrocardiogram (ECG) parameter measurement is vital for real-time cardiac health monitoring and telemedicine. On-device computation of single-lead ECG parameters enables timely assessment without reliance on centralized data processing, advancing personalized, ubiquitous cardiac care-yet comprehensive validation across heterogeneous real-world populations remains limited. This study validated the on-device algorithm FeatureDB (https://github.com/PKUDigitalHealth/FeatureDB) using two datasets: HeartVoice-ECG-lite (369 participants with single-lead ECGs annotated by two physicians) and PTB-XL/PTB-XL+ (21,354 patients with 12-lead ECGs and physicians' diagnostic annotations). FeatureDB computed PR, QT, and QTc intervals, with accuracy evaluated against physician annotations via mean absolute error (MAE), correlation analysis, and Bland-Altman analysis. Diagnostic performance for first-degree atrioventricular block (AVBI, PR-based) and long QT syndrome (LQT, QTc-based) was benchmarked against commercial 12-lead systems (12SL, Uni-G) and open-source algorithm Deli, using AUC, accuracy, sensitivity, and specificity. Results showed high concordance with expert annotations (Pearson correlations: 0.836-0.960), MAEs matching inter-observer variability, and minimal bias. AVBI AUC reached 0.787 (12SL: 0.859; Uni-G: 0.812; Deli: 0.501); LQT AUC was 0.684 (12SL: 0.716; Uni-G: 0.605; Deli: 0.569)-comparable to commercial tools and superior to open-source alternatives. FeatureDB delivers physician-level parameter accuracy and commercial-grade abnormality detection via single-lead devices, supporting scalable telemedicine, decentralized cardiac screening, and continuous monitoring in community and outpatient settings.

Recently, Multi-Object Tracking (MOT) has attracted rising attention, and accordingly, remarkable progresses have been achieved. However, the existing methods tend to use various basic models (e.g, detector and embedding model), and different training or inference tricks, etc. As a result, the construction of a good baseline for a fair comparison is essential. In this paper, a classic tracker, i.e., DeepSORT, is first revisited, and then is significantly improved from multiple perspectives such as object detection, feature embedding, and trajectory association. The proposed tracker, named StrongSORT, contributes a strong and fair baseline for the MOT community. Moreover, two lightweight and plug-and-play algorithms are proposed to address two inherent "missing" problems of MOT: missing association and missing detection. Specifically, unlike most methods, which associate short tracklets into complete trajectories at high computation complexity, we propose an appearance-free link model (AFLink) to perform global association without appearance information, and achieve a good balance between speed and accuracy. Furthermore, we propose a Gaussian-smoothed interpolation (GSI) based on Gaussian process regression to relieve the missing detection. AFLink and GSI can be easily plugged into various trackers with a negligible extra computational cost (1.7 ms and 7.1 ms per image, respectively, on MOT17). Finally, by fusing StrongSORT with AFLink and GSI, the final tracker (StrongSORT++) achieves state-of-the-art results on multiple public benchmarks, i.e., MOT17, MOT20, DanceTrack and KITTI. Codes are available at https://github.com/dyhBUPT/StrongSORT and https://github.com/open-mmlab/mmtracking.

Drone-based multi-object tracking is essential yet highly challenging due to small targets, severe occlusions, and cluttered backgrounds. Existing RGB-based tracking algorithms heavily depend on spatial appearance cues such as color and texture, which often degrade in aerial views, compromising reliability. Multispectral imagery, capturing pixel-level spectral reflectance, provides crucial cues that enhance object discriminability under degraded spatial conditions. However, the lack of dedicated multispectral UAV datasets has hindered progress in this domain. To bridge this gap, we introduce MMOT, the first challenging benchmark for drone-based multispectral multi-object tracking. It features three key characteristics: (i) Large Scale - 125 video sequences with over 488.8K annotations across eight categories; (ii) Comprehensive Challenges - covering diverse conditions such as extreme small targets, high-density scenarios, severe occlusions, and complex motion; and (iii) Precise Oriented Annotations - enabling accurate localization and reduced ambiguity under aerial perspectives. To better extract spectral features and leverage oriented annotations, we further present a multispectral and orientation-aware MOT scheme adapting existing methods, featuring: (i) a lightweight Spectral 3D-Stem integrating spectral features while preserving compatibility with RGB pretraining; (ii) an orientation-aware Kalman filter for precise state estimation; and (iii) an end-to-end orientation-adaptive transformer. Extensive experiments across representative trackers consistently show that multispectral input markedly improves tracking performance over RGB baselines, particularly for small and densely packed objects. We believe our work will advance drone-based multispectral multi-object tracking research. Our MMOT, code, and benchmarks are publicly available at https://github.com/Annzstbl/MMOT.

Traditional methods for human localization and pose estimation (HPE), which mainly rely on RGB images as an input modality, confront substantial limitations in real-world applications due to privacy concerns. In contrast, radar-based HPE methods emerge as a promising alternative, characterized by distinctive attributes such as through-wall recognition and privacy-preserving, rendering the method more conducive to practical deployments. This paper presents a Radar Tensor-based human pose (RT-Pose) dataset and an open-source benchmarking framework. The RT-Pose dataset comprises 4D radar tensors, LiDAR point clouds, and RGB images, and is collected for a total of 72k frames across 240 sequences with six different complexity-level actions. The 4D radar tensor provides raw spatio-temporal information, differentiating it from other radar point cloud-based datasets. We develop an annotation process using RGB images and LiDAR point clouds to accurately label 3D human skeletons. In addition, we propose HRRadarPose, the first single-stage architecture that extracts the high-resolution representation of 4D radar tensors in 3D space to aid human keypoint estimation. HRRadarPose outperforms previous radar-based HPE work on the RT-Pose benchmark. The overall HRRadarPose performance on the RT-Pose dataset, as reflected in a mean per joint position error (MPJPE) of 9.91cm, indicates the persistent challenges in achieving accurate HPE in complex real-world scenarios. RT-Pose is available at https://huggingface.co/datasets/uwipl/RT-Pose.

RGB video object tracking is a fundamental task in computer vision. Its effectiveness can be improved using depth information, particularly for handling motion-blurred target. However, depth information is often missing in commonly used tracking benchmarks. In this work, we propose a new framework that leverages monocular depth estimation to counter the challenges of tracking targets that are out of view or affected by motion blur in RGB video sequences. Specifically, our work introduces following contributions. To the best of our knowledge, we are the first to propose a depth attention mechanism and to formulate a simple framework that allows seamlessly integration of depth information with state of the art tracking algorithms, without RGB-D cameras, elevating accuracy and robustness. We provide extensive experiments on six challenging tracking benchmarks. Our results demonstrate that our approach provides consistent gains over several strong baselines and achieves new SOTA performance. We believe that our method will open up new possibilities for more sophisticated VOT solutions in real-world scenarios. Our code and models are publicly released: https://github.com/LiuYuML/Depth-Attention.

We present a lightweight and affordable motion capture method based on two smartwatches and a head-mounted camera. In contrast to the existing approaches that use six or more expert-level IMU devices, our approach is much more cost-effective and convenient. Our method can make wearable motion capture accessible to everyone everywhere, enabling 3D full-body motion capture in diverse environments. As a key idea to overcome the extreme sparsity and ambiguities of sensor inputs, we integrate 6D head poses obtained from the head-mounted cameras for motion estimation. To enable capture in expansive indoor and outdoor scenes, we propose an algorithm to track and update floor level changes to define head poses, coupled with a multi-stage Transformer-based regression module. We also introduce novel strategies leveraging visual cues of egocentric images to further enhance the motion capture quality while reducing ambiguities. We demonstrate the performance of our method on various challenging scenarios, including complex outdoor environments and everyday motions including object interactions and social interactions among multiple individuals.

This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications. To this end, detection quality is identified as a key factor influencing tracking performance, where changing the detector can improve tracking by up to 18.9%. Despite only using a rudimentary combination of familiar techniques such as the Kalman Filter and Hungarian algorithm for the tracking components, this approach achieves an accuracy comparable to state-of-the-art online trackers. Furthermore, due to the simplicity of our tracking method, the tracker updates at a rate of 260 Hz which is over 20x faster than other state-of-the-art trackers.

Visual object tracking is a fundamental video task in computer vision. Recently, the notably increasing power of perception algorithms allows the unification of single/multiobject and box/mask-based tracking. Among them, the Segment Anything Model (SAM) attracts much attention. In this report, we propose HQTrack, a framework for High Quality Tracking anything in videos. HQTrack mainly consists of a video multi-object segmenter (VMOS) and a mask refiner (MR). Given the object to be tracked in the initial frame of a video, VMOS propagates the object masks to the current frame. The mask results at this stage are not accurate enough since VMOS is trained on several closeset video object segmentation (VOS) datasets, which has limited ability to generalize to complex and corner scenes. To further improve the quality of tracking masks, a pretrained MR model is employed to refine the tracking results. As a compelling testament to the effectiveness of our paradigm, without employing any tricks such as test-time data augmentations and model ensemble, HQTrack ranks the 2nd place in the Visual Object Tracking and Segmentation (VOTS2023) challenge. Code and models are available at https://github.com/jiawen-zhu/HQTrack.

Visual object tracking is essential to intelligent robots. Most existing approaches have ignored the online latency that can cause severe performance degradation during real-world processing. Especially for unmanned aerial vehicles (UAVs), where robust tracking is more challenging and onboard computation is limited, the latency issue can be fatal. In this work, we present a simple framework for end-to-end latency-aware tracking, i.e., end-to-end predictive visual tracking (PVT++). Unlike existing solutions that naively append Kalman Filters after trackers, PVT++ can be jointly optimized, so that it takes not only motion information but can also leverage the rich visual knowledge in most pre-trained tracker models for robust prediction. Besides, to bridge the training-evaluation domain gap, we propose a relative motion factor, empowering PVT++ to generalize to the challenging and complex UAV tracking scenes. These careful designs have made the small-capacity lightweight PVT++ a widely effective solution. Additionally, this work presents an extended latency-aware evaluation benchmark for assessing an any-speed tracker in the online setting. Empirical results on a robotic platform from the aerial perspective show that PVT++ can achieve significant performance gain on various trackers and exhibit higher accuracy than prior solutions, largely mitigating the degradation brought by latency.

3D Gaussian Splatting (3DGS) enables real-time, photorealistic novel view synthesis, making it a highly attractive representation for model-based video tracking. However, leveraging the differentiability of the 3DGS renderer "in the wild" remains notoriously fragile. A fundamental bottleneck lies in the compact, local support of the Gaussian primitives. Standard photometric objectives implicitly rely on spatial overlap; if severe camera misalignment places the rendered object outside the target's local footprint, gradients strictly vanish, leaving the optimizer stranded. We introduce SpectralSplats, a robust tracking framework that resolves this "vanishing gradient" problem by shifting the optimization objective from the spatial to the frequency domain. By supervising the rendered image via a set of global complex sinusoidal features (Spectral Moments), we construct a global basin of attraction, ensuring that a valid, directional gradient toward the target exists across the entire image domain, even when pixel overlap is completely nonexistent. To harness this global basin without introducing periodic local minima associated with high frequencies, we derive a principled Frequency Annealing schedule from first principles, gracefully transitioning the optimizer from global convexity to precise spatial alignment. We demonstrate that SpectralSplats acts as a seamless, drop-in replacement for spatial losses across diverse deformation parameterizations (from MLPs to sparse control points), successfully recovering complex deformations even from severely misaligned initializations where standard appearance-based tracking catastrophically fails.

The growing demand for intelligent environments unleashes an extraordinary cycle of privacy-aware applications that makes individuals' life more comfortable and safe. Examples of these applications include pedestrian tracking systems in large areas. Although the ubiquity of camera-based systems, they are not a preferable solution due to the vulnerability of leaking the privacy of pedestrians. In this paper, we introduce a novel privacy-preserving system for pedestrian tracking in smart environments using multiple distributed LiDARs of non-overlapping views. The system is designed to leverage LiDAR devices to track pedestrians in partially covered areas due to practical constraints, e.g., occlusion or cost. Therefore, the system uses the point cloud captured by different LiDARs to extract discriminative features that are used to train a metric learning model for pedestrian matching purposes. To boost the system's robustness, we leverage a probabilistic approach to model and adapt the dynamic mobility patterns of individuals and thus connect their sub-trajectories. We deployed the system in a large-scale testbed with 70 colorless LiDARs and conducted three different experiments. The evaluation result at the entrance hall confirms the system's ability to accurately track the pedestrians with a 0.98 F-measure even with zero-covered areas. This result highlights the promise of the proposed system as the next generation of privacy-preserving tracking means in smart environments.

Recent advances in 3D Gaussian Splatting (3DGS) have enabled RGB-only SLAM systems to achieve high-fidelity scene representation. However, the heavy reliance of existing systems on photometric rendering loss for camera tracking undermines their robustness, especially in unbounded outdoor environments with severe viewpoint and illumination changes. To address these challenges, we propose TVG-SLAM, a robust RGB-only 3DGS SLAM system that leverages a novel tri-view geometry paradigm to ensure consistent tracking and high-quality mapping. We introduce a dense tri-view matching module that aggregates reliable pairwise correspondences into consistent tri-view matches, forming robust geometric constraints across frames. For tracking, we propose Hybrid Geometric Constraints, which leverage tri-view matches to construct complementary geometric cues alongside photometric loss, ensuring accurate and stable pose estimation even under drastic viewpoint shifts and lighting variations. For mapping, we propose a new probabilistic initialization strategy that encodes geometric uncertainty from tri-view correspondences into newly initialized Gaussians. Additionally, we design a Dynamic Attenuation of Rendering Trust mechanism to mitigate tracking drift caused by mapping latency. Experiments on multiple public outdoor datasets show that our TVG-SLAM outperforms prior RGB-only 3DGS-based SLAM systems. Notably, in the most challenging dataset, our method improves tracking robustness, reducing the average Absolute Trajectory Error (ATE) by 69.0\% while achieving state-of-the-art rendering quality. The implementation of our method will be released as open-source.

Tissue tracking in echocardiography is challenging due to the complex cardiac motion and the inherent nature of ultrasound acquisitions. Although optical flow methods are considered state-of-the-art (SOTA), they struggle with long-range tracking, noise occlusions, and drift throughout the cardiac cycle. Recently, novel learning-based point tracking techniques have been introduced to tackle some of these issues. In this paper, we build upon these techniques and introduce EchoTracker, a two-fold coarse-to-fine model that facilitates the tracking of queried points on a tissue surface across ultrasound image sequences. The architecture contains a preliminary coarse initialization of the trajectories, followed by reinforcement iterations based on fine-grained appearance changes. It is efficient, light, and can run on mid-range GPUs. Experiments demonstrate that the model outperforms SOTA methods, with an average position accuracy of 67% and a median trajectory error of 2.86 pixels. Furthermore, we show a relative improvement of 25% when using our model to calculate the global longitudinal strain (GLS) in a clinical test-retest dataset compared to other methods. This implies that learning-based point tracking can potentially improve performance and yield a higher diagnostic and prognostic value for clinical measurements than current techniques. Our source code is available at: https://github.com/riponazad/echotracker/.

Wearable sensors have become ubiquitous thanks to a variety of health tracking features. The resulting continuous and longitudinal measurements from everyday life generate large volumes of data; however, making sense of these observations for scientific and actionable insights is non-trivial. Inspired by the empirical success of generative modeling, where large neural networks learn powerful representations from vast amounts of text, image, video, or audio data, we investigate the scaling properties of sensor foundation models across compute, data, and model size. Using a dataset of up to 40 million hours of in-situ heart rate, heart rate variability, electrodermal activity, accelerometer, skin temperature, and altimeter per-minute data from over 165,000 people, we create LSM, a multimodal foundation model built on the largest wearable-signals dataset with the most extensive range of sensor modalities to date. Our results establish the scaling laws of LSM for tasks such as imputation, interpolation and extrapolation, both across time and sensor modalities. Moreover, we highlight how LSM enables sample-efficient downstream learning for tasks like exercise and activity recognition.

We propose a Cascaded Buffered IoU (C-BIoU) tracker to track multiple objects that have irregular motions and indistinguishable appearances. When appearance features are unreliable and geometric features are confused by irregular motions, applying conventional Multiple Object Tracking (MOT) methods may generate unsatisfactory results. To address this issue, our C-BIoU tracker adds buffers to expand the matching space of detections and tracks, which mitigates the effect of irregular motions in two aspects: one is to directly match identical but non-overlapping detections and tracks in adjacent frames, and the other is to compensate for the motion estimation bias in the matching space. In addition, to reduce the risk of overexpansion of the matching space, cascaded matching is employed: first matching alive tracks and detections with a small buffer, and then matching unmatched tracks and detections with a large buffer. Despite its simplicity, our C-BIoU tracker works surprisingly well and achieves state-of-the-art results on MOT datasets that focus on irregular motions and indistinguishable appearances. Moreover, the C-BIoU tracker is the dominant component for our 2-nd place solution in the CVPR'22 SoccerNet MOT and ECCV'22 MOTComplex DanceTrack challenges. Finally, we analyze the limitation of our C-BIoU tracker in ablation studies and discuss its application scope.

Time series research has gathered lots of interests in the last decade, especially for Time Series Classification (TSC) and Time Series Forecasting (TSF). Research in TSC has greatly benefited from the University of California Riverside and University of East Anglia (UCR/UEA) Time Series Archives. On the other hand, the advancement in Time Series Forecasting relies on time series forecasting competitions such as the Makridakis competitions, NN3 and NN5 Neural Network competitions, and a few Kaggle competitions. Each year, thousands of papers proposing new algorithms for TSC and TSF have utilized these benchmarking archives. These algorithms are designed for these specific problems, but may not be useful for tasks such as predicting the heart rate of a person using photoplethysmogram (PPG) and accelerometer data. We refer to this problem as Time Series Extrinsic Regression (TSER), where we are interested in a more general methodology of predicting a single continuous value, from univariate or multivariate time series. This prediction can be from the same time series or not directly related to the predictor time series and does not necessarily need to be a future value or depend heavily on recent values. To the best of our knowledge, research into TSER has received much less attention in the time series research community and there are no models developed for general time series extrinsic regression problems. Most models are developed for a specific problem. Therefore, we aim to motivate and support the research into TSER by introducing the first TSER benchmarking archive. This archive contains 19 datasets from different domains, with varying number of dimensions, unequal length dimensions, and missing values. In this paper, we introduce the datasets in this archive and did an initial benchmark on existing models.

The field of multi-object tracking has recently seen a renewed interest in the good old schema of tracking-by-detection, as its simplicity and strong priors spare it from the complex design and painful babysitting of tracking-by-attention approaches. In view of this, we aim at extending tracking-by-detection to multi-modal settings, where a comprehensive cost has to be computed from heterogeneous information e.g., 2D motion cues, visual appearance, and pose estimates. More precisely, we follow a case study where a rough estimate of 3D information is also available and must be merged with other traditional metrics (e.g., the IoU). To achieve that, recent approaches resort to either simple rules or complex heuristics to balance the contribution of each cost. However, i) they require careful tuning of tailored hyperparameters on a hold-out set, and ii) they imply these costs to be independent, which does not hold in reality. We address these issues by building upon an elegant probabilistic formulation, which considers the cost of a candidate association as the negative log-likelihood yielded by a deep density estimator, trained to model the conditional joint probability distribution of correct associations. Our experiments, conducted on both simulated and real benchmarks, show that our approach consistently enhances the performance of several tracking-by-detection algorithms.

Fish tracking is a key technology for obtaining movement trajectories and identifying abnormal behavior. However, it faces considerable challenges, including occlusion, multi-scale tracking, and fish deformation. Notably, extant reviews have focused more on behavioral analysis rather than providing a comprehensive overview of computer vision-based fish tracking approaches. This paper presents a comprehensive review of the advancements of fish tracking technologies over the past seven years (2017-2023). It explores diverse fish tracking techniques with an emphasis on fundamental localization and tracking methods. Auxiliary plugins commonly integrated into fish tracking systems, such as underwater image enhancement and re-identification, are also examined. Additionally, this paper summarizes open-source datasets, evaluation metrics, challenges, and applications in fish tracking research. Finally, a comprehensive discussion offers insights and future directions for vision-based fish tracking techniques. We hope that our work could provide a partial reference in the development of fish tracking algorithms.

Tracking by detection has been the prevailing paradigm in the field of Multi-object Tracking (MOT). These methods typically rely on the Kalman Filter to estimate the future locations of objects, assuming linear object motion. However, they fall short when tracking objects exhibiting nonlinear and diverse motion in scenarios like dancing and sports. In addition, there has been limited focus on utilizing learning-based motion predictors in MOT. To address these challenges, we resort to exploring data-driven motion prediction methods. Inspired by the great expectation of state space models (SSMs), such as Mamba, in long-term sequence modeling with near-linear complexity, we introduce a Mamba-based motion model named Mamba moTion Predictor (MTP). MTP is designed to model the complex motion patterns of objects like dancers and athletes. Specifically, MTP takes the spatial-temporal location dynamics of objects as input, captures the motion pattern using a bi-Mamba encoding layer, and predicts the next motion. In real-world scenarios, objects may be missed due to occlusion or motion blur, leading to premature termination of their trajectories. To tackle this challenge, we further expand the application of MTP. We employ it in an autoregressive way to compensate for missing observations by utilizing its own predictions as inputs, thereby contributing to more consistent trajectories. Our proposed tracker, MambaTrack, demonstrates advanced performance on benchmarks such as Dancetrack and SportsMOT, which are characterized by complex motion and severe occlusion.

Human Activity Recognition (HAR) based on wearable inertial sensors plays a critical role in remote health monitoring. In patients with movement disorders, the ability to detect abnormal patient movements in their home environments can enable continuous optimization of treatments and help alert caretakers as needed. Machine learning approaches have been proposed for HAR tasks using Inertial Measurement Unit (IMU) data; however, most rely on application-specific labels and lack generalizability to data collected in different environments or populations. To address this limitation, we propose a new cross-modal self-supervised pretraining approach to learn representations from large-sale unlabeled IMU-video data and demonstrate improved generalizability in HAR tasks on out of distribution (OOD) IMU datasets, including a dataset collected from patients with Parkinson's disease. Specifically, our results indicate that the proposed cross-modal pretraining approach outperforms the current state-of-the-art IMU-video pretraining approach and IMU-only pretraining under zero-shot and few-shot evaluations. Broadly, our study provides evidence that in highly dynamic data modalities, such as IMU signals, cross-modal pretraining may be a useful tool to learn generalizable data representations. Our software is available at https://github.com/scheshmi/IMU-Video-OOD-HAR.

Rapid urbanization and improved living standards have led to a substantial increase in the number of vehicles on the road, consequently resulting in a rise in the frequency of accidents. Among these accidents, motorbike accidents pose a particularly high risk, often resulting in serious injuries or deaths. A significant number of these fatalities occur due to delayed or inadequate medical attention. To this end, we propose a novel automatic detection and notification system specifically designed for motorbike accidents. The proposed system comprises two key components: a detection system and a physiological signal monitoring system. The detection system is integrated into the helmet and consists of a microcontroller, accelerometer, GPS, GSM, and Wi-Fi modules. The physio-monitoring system incorporates a sensor for monitoring pulse rate and SpO_{2} saturation. All collected data are presented on an LCD display and wirelessly transmitted to the detection system through the microcontroller of the physiological signal monitoring system. If the accelerometer readings consistently deviate from the specified threshold decided through extensive experimentation, the system identifies the event as an accident and transmits the victim's information -- including the GPS location, pulse rate, and SpO_{2} saturation rate -- to the designated emergency contacts. Preliminary results demonstrate the efficacy of the proposed system in accurately detecting motorbike accidents and promptly alerting emergency contacts. We firmly believe that the proposed system has the potential to significantly mitigate the risks associated with motorbike accidents and save lives.

Parse graphs of the human body can be obtained in the human brain to help humans complete the human pose estimation (HPE). It contains a hierarchical structure, like a tree structure, and context relations among nodes. Many researchers pre-design the parse graph of body structure, and then design framework for HPE. However, these frameworks are difficulty adapting when encountering situations that differ from the preset human structure. Different from them, we regard the feature map as a whole, similarly to human body, so the feature map can be optimized based on parse graphs and each node feature is learned implicitly instead of explicitly, which means it can flexibly respond to different human body structure. In this paper, we design the Refinement Module based on the Parse Graph of feature map (RMPG), which includes two stages: top-down decomposition and bottom-up combination. In the top-down decomposition stage, the feature map is decomposed into multiple sub-feature maps along the channel and their context relations are calculated to obtain their respective context information. In the bottom-up combination stage, the sub-feature maps and their context information are combined to obtain refined sub-feature maps, and then these refined sub-feature maps are concatenated to obtain the refined feature map. Additionally ,we design a top-down framework by using multiple RMPG modules for HPE, some of which are supervised to obtain context relations among body parts. Our framework achieves excellent results on the COCO keypoint detection, CrowdPose and MPII human pose datasets. More importantly, our experiments also demonstrate the effectiveness of RMPG on different methods, including SimpleBaselines, Hourglass, and ViTPose.

This paper introduces a structural equation formulation that gives rise to a new family of quasi-periodic Gaussian processes, useful to process a broad class of natural and physiological signals. The proposed formulation simplifies generation and forecasting, and provides hyperparameter estimates, which we exploit in a convergent and consistent iterative estimation algorithm. A bootstrap approach for standard error estimation and confidence intervals is also provided. We demonstrate the computational and scaling benefits of the proposed approach on a broad class of problems, including water level tidal analysis, CO_{2} emission data, and sunspot numbers data. By leveraging the structural equations, our method reduces the cost of likelihood evaluations and predictions from O(k^2 p^2) to O(p^2), significantly improving scalability.

Simple Online and Realtime Tracking (SORT) is a pragmatic approach to multiple object tracking with a focus on simple, effective algorithms. In this paper, we integrate appearance information to improve the performance of SORT. Due to this extension we are able to track objects through longer periods of occlusions, effectively reducing the number of identity switches. In spirit of the original framework we place much of the computational complexity into an offline pre-training stage where we learn a deep association metric on a large-scale person re-identification dataset. During online application, we establish measurement-to-track associations using nearest neighbor queries in visual appearance space. Experimental evaluation shows that our extensions reduce the number of identity switches by 45%, achieving overall competitive performance at high frame rates.

In existing joint detection and tracking methods, pairwise relational features are used to match previous tracklets to current detections. However, the features may not be discriminative enough for a tracker to identify a target from a large number of detections. Selecting only high-scored detections for tracking may lead to missed detections whose confidence score is low. Consequently, in the online setting, this results in disconnections of tracklets which cannot be recovered. In this regard, we present Sparse Graph Tracker (SGT), a novel online graph tracker using higher-order relational features which are more discriminative by aggregating the features of neighboring detections and their relations. SGT converts video data into a graph where detections, their connections, and the relational features of two connected nodes are represented by nodes, edges, and edge features, respectively. The strong edge features allow SGT to track targets with tracking candidates selected by top-K scored detections with large K. As a result, even low-scored detections can be tracked, and the missed detections are also recovered. The robustness of K value is shown through the extensive experiments. In the MOT16/17/20 and HiEve Challenge, SGT outperforms the state-of-the-art trackers with real-time inference speed. Especially, a large improvement in MOTA is shown in the MOT20 and HiEve Challenge. Code is available at https://github.com/HYUNJS/SGT.

Pose tracking is an important problem that requires identifying unique human pose-instances and matching them temporally across different frames of a video. However, existing pose tracking methods are unable to accurately model temporal relationships and require significant computation, often computing the tracks offline. We present an efficient Multi-person Pose Tracking method, KeyTrack, that only relies on keypoint information without using any RGB or optical flow information to track human keypoints in real-time. Keypoints are tracked using our Pose Entailment method, in which, first, a pair of pose estimates is sampled from different frames in a video and tokenized. Then, a Transformer-based network makes a binary classification as to whether one pose temporally follows another. Furthermore, we improve our top-down pose estimation method with a novel, parameter-free, keypoint refinement technique that improves the keypoint estimates used during the Pose Entailment step. We achieve state-of-the-art results on the PoseTrack'17 and the PoseTrack'18 benchmarks while using only a fraction of the computation required by most other methods for computing the tracking information.

Transformer-based visual trackers have demonstrated significant progress owing to their superior modeling capabilities. However, existing trackers are hampered by low speed, limiting their applicability on devices with limited computational power. To alleviate this problem, we propose HiT, a new family of efficient tracking models that can run at high speed on different devices while retaining high performance. The central idea of HiT is the Bridge Module, which bridges the gap between modern lightweight transformers and the tracking framework. The Bridge Module incorporates the high-level information of deep features into the shallow large-resolution features. In this way, it produces better features for the tracking head. We also propose a novel dual-image position encoding technique that simultaneously encodes the position information of both the search region and template images. The HiT model achieves promising speed with competitive performance. For instance, it runs at 61 frames per second (fps) on the Nvidia Jetson AGX edge device. Furthermore, HiT attains 64.6% AUC on the LaSOT benchmark, surpassing all previous efficient trackers.

Visual tracking problem demands to efficiently perform robust classification and accurate target state estimation over a given target at the same time. Former methods have proposed various ways of target state estimation, yet few of them took the particularity of the visual tracking problem itself into consideration. After a careful analysis, we propose a set of practical guidelines of target state estimation for high-performance generic object tracker design. Following these guidelines, we design our Fully Convolutional Siamese tracker++ (SiamFC++) by introducing both classification and target state estimation branch(G1), classification score without ambiguity(G2), tracking without prior knowledge(G3), and estimation quality score(G4). Extensive analysis and ablation studies demonstrate the effectiveness of our proposed guidelines. Without bells and whistles, our SiamFC++ tracker achieves state-of-the-art performance on five challenging benchmarks(OTB2015, VOT2018, LaSOT, GOT-10k, TrackingNet), which proves both the tracking and generalization ability of the tracker. Particularly, on the large-scale TrackingNet dataset, SiamFC++ achieves a previously unseen AUC score of 75.4 while running at over 90 FPS, which is far above the real-time requirement. Code and models are available at: https://github.com/MegviiDetection/video_analyst .

One-stream Transformer-based trackers achieve advanced performance in visual object tracking but suffer from significant computational overhead that hinders real-time deployment. While token pruning offers a path to efficiency, existing methods are fragmented. They typically prune the search region, dynamic template, and static template in isolation, overlooking critical inter-component dependencies, which yields suboptimal pruning and degraded accuracy. To address this, we introduce UTPTrack, a simple and Unified Token Pruning framework that, for the first time, jointly compresses all three components. UTPTrack employs an attention-guided, token type-aware strategy to holistically model redundancy, a design that seamlessly supports unified tracking across multimodal and language-guided tasks within a single model. Extensive evaluations on 10 benchmarks demonstrate that UTPTrack achieves a new state-of-the-art in the accuracy-efficiency trade-off for pruning-based trackers, pruning 65.4% of vision tokens in RGB-based tracking and 67.5% in unified tracking while preserving 99.7% and 100.5% of baseline performance, respectively. This strong performance across both RGB and multimodal scenarios underlines its potential as a robust foundation for future research in efficient visual tracking. Code will be released at https://github.com/EIT-NLP/UTPTrack.

Electrocardiograms (ECGs) are among the most widely used diagnostic tools for cardiovascular diseases, and a large amount of ECG data worldwide appears only in image form. However, most existing automated ECG analysis methods rely on access to raw signal recordings, limiting their applicability in real-world and resource-constrained settings. In this paper, we present ECG-Scan, a self-supervised framework for learning clinically generalized representations from ECG images through dual physiological-aware alignments: 1) Our approach optimizes image representation learning using multimodal contrastive alignment between image and gold-standard signal-text modalities. 2) We further integrate domain knowledge via soft-lead constraints, regularizing the reconstruction process and improving signal lead inter-consistency. Extensive benchmarking across multiple datasets and downstream tasks demonstrates that our image-based model achieves superior performance compared to existing image baselines and notably narrows the gap between ECG image and signal analysis. These results highlight the potential of self-supervised image modeling to unlock large-scale legacy ECG data and broaden access to automated cardiovascular diagnostics.

Estimating human pose using a front-facing egocentric camera is essential for applications such as sports motion analysis, VR/AR, and AI for wearable devices. However, many existing methods rely on RGB cameras and do not account for low-light environments or motion blur. Event-based cameras have the potential to address these challenges. In this work, we introduce a novel task of human pose estimation using a front-facing event-based camera mounted on the head and propose D-EventEgo, the first framework for this task. The proposed method first estimates the head poses, and then these are used as conditions to generate body poses. However, when estimating head poses, the presence of dynamic objects mixed with background events may reduce head pose estimation accuracy. Therefore, we introduce the Motion Segmentation Module to remove dynamic objects and extract background information. Extensive experiments on our synthetic event-based dataset derived from EgoBody, demonstrate that our approach outperforms our baseline in four out of five evaluation metrics in dynamic environments.

Understanding of human visual perception has historically inspired the design of computer vision architectures. As an example, perception occurs at different scales both spatially and temporally, suggesting that the extraction of salient visual information may be made more effective by paying attention to specific features at varying scales. Visual changes in the body due to physiological processes also occur at different scales and with modality-specific characteristic properties. Inspired by this, we present BigSmall, an efficient architecture for physiological and behavioral measurement. We present the first joint camera-based facial action, cardiac, and pulmonary measurement model. We propose a multi-branch network with wrapping temporal shift modules that yields both accuracy and efficiency gains. We observe that fusing low-level features leads to suboptimal performance, but that fusing high level features enables efficiency gains with negligible loss in accuracy. Experimental results demonstrate that BigSmall significantly reduces the computational costs. Furthermore, compared to existing task-specific models, BigSmall achieves comparable or better results on multiple physiological measurement tasks simultaneously with a unified model.

The rapid evolution of sensors and resource-efficient machine learning models has spurred the widespread adoption of wearable fitness tracking devices. Equipped with inertial sensors, such devices can continuously capture physical movements for fitness technology (FitTech), enabling applications from sports optimization to preventive healthcare. Traditional Centralized Learning approaches to detect fitness activities struggle with data privacy concerns, regulatory restrictions, and communication inefficiencies. In contrast, Federated Learning (FL) enables a decentralized model training by communicating model updates rather than potentially private wearable sensor data. Applying FL to FitTech presents unique challenges, such as data imbalance, lack of labeled data, heterogeneous user activities, and trade-offs between personalization and generalization. To simplify research on FitTech in FL, we present the FedFitTech baseline, under the Flower framework, which is publicly available and widely used by both industry and academic researchers. Additionally, to illustrate its usage, this paper presents a case study that implements a system based on the FedFitTech baseline, incorporating a client-side early stopping strategy and comparing the results. For instance, this system allows wearable devices to optimize the trade-off between capturing common fitness activities and preserving individuals' nuances, thereby enhancing both the scalability and efficiency of privacy-aware fitness tracking applications. The results show that this reduces the overall redundant communications by 13%, while maintaining the overall recognition performance at a negligible recognition cost by 1%. Thus, the FedFitTech baseline creates a foundation for a wide range of new research and development opportunities in FitTech, and it is available as open source at: https://github.com/shreyaskorde16/FedFitTech

3D reconstruction and novel view synthesis are critical for validating autonomous driving systems and training advanced perception models. Recent self-supervised methods have gained significant attention due to their cost-effectiveness and enhanced generalization in scenarios where annotated bounding boxes are unavailable. However, existing approaches, which often rely on frequency-domain decoupling or optical flow, struggle to accurately reconstruct dynamic objects due to imprecise motion estimation and weak temporal consistency, resulting in incomplete or distorted representations of dynamic scene elements. To address these challenges, we propose 4DRadar-GS, a 4D Radar-augmented self-supervised 3D reconstruction framework tailored for dynamic driving scenes. Specifically, we first present a 4D Radar-assisted Gaussian initialization scheme that leverages 4D Radar's velocity and spatial information to segment dynamic objects and recover monocular depth scale, generating accurate Gaussian point representations. In addition, we propose a Velocity-guided PointTrack (VGPT) model, which is jointly trained with the reconstruction pipeline under scene flow supervision, to track fine-grained dynamic trajectories and construct temporally consistent representations. Evaluated on the OmniHD-Scenes dataset, 4DRadar-GS achieves state-of-the-art performance in dynamic driving scene 3D reconstruction.

The high temporal variation of the point clouds is the key challenge of 3D single-object tracking (3D SOT). Existing approaches rely on the assumption that the shape variation of the point clouds and the motion of the objects across neighboring frames are smooth, failing to cope with high temporal variation data. In this paper, we present a novel framework for 3D SOT in point clouds with high temporal variation, called HVTrack. HVTrack proposes three novel components to tackle the challenges in the high temporal variation scenario: 1) A Relative-Pose-Aware Memory module to handle temporal point cloud shape variations; 2) a Base-Expansion Feature Cross-Attention module to deal with similar object distractions in expanded search areas; 3) a Contextual Point Guided Self-Attention module for suppressing heavy background noise. We construct a dataset with high temporal variation (KITTI-HV) by setting different frame intervals for sampling in the KITTI dataset. On the KITTI-HV with 5 frame intervals, our HVTrack surpasses the state-of-the-art tracker CXTracker by 11.3%/15.7% in Success/Precision.

Despite great recent advances in visual tracking, its further development, including both algorithm design and evaluation, is limited due to lack of dedicated large-scale benchmarks. To address this problem, we present LaSOT, a high-quality Large-scale Single Object Tracking benchmark. LaSOT contains a diverse selection of 85 object classes, and offers 1,550 totaling more than 3.87 million frames. Each video frame is carefully and manually annotated with a bounding box. This makes LaSOT, to our knowledge, the largest densely annotated tracking benchmark. Our goal in releasing LaSOT is to provide a dedicated high quality platform for both training and evaluation of trackers. The average video length of LaSOT is around 2,500 frames, where each video contains various challenge factors that exist in real world video footage,such as the targets disappearing and re-appearing. These longer video lengths allow for the assessment of long-term trackers. To take advantage of the close connection between visual appearance and natural language, we provide language specification for each video in LaSOT. We believe such additions will allow for future research to use linguistic features to improve tracking. Two protocols, full-overlap and one-shot, are designated for flexible assessment of trackers. We extensively evaluate 48 baseline trackers on LaSOT with in-depth analysis, and results reveal that there still exists significant room for improvement. The complete benchmark, tracking results as well as analysis are available at http://vision.cs.stonybrook.edu/~lasot/.

This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into memory buffers of two latent representations: 1) Raster latents in the bird's-eye-view (BEV) space and 2) Vector latents over the road elements (i.e., pedestrian-crossings, lane-dividers, and road-boundaries). The approach borrows the query propagation paradigm from the tracking literature that explicitly associates tracked road elements from the previous frame to the current, while fusing a subset of memory latents selected with distance strides to further enhance temporal consistency. A vector latent is decoded to reconstruct the geometry of a road element. The paper further makes benchmark contributions by 1) Improving processing code for existing datasets to produce consistent ground truth with temporal alignments and 2) Augmenting existing mAP metrics with consistency checks. MapTracker significantly outperforms existing methods on both nuScenes and Agroverse2 datasets by over 8% and 19% on the conventional and the new consistency-aware metrics, respectively. The code will be available on our project page: https://map-tracker.github.io.

By decomposing the visual tracking task into two subproblems as classification for pixel category and regression for object bounding box at this pixel, we propose a novel fully convolutional Siamese network to solve visual tracking end-to-end in a per-pixel manner. The proposed framework SiamCAR consists of two simple subnetworks: one Siamese subnetwork for feature extraction and one classification-regression subnetwork for bounding box prediction. Our framework takes ResNet-50 as backbone. Different from state-of-the-art trackers like Siamese-RPN, SiamRPN++ and SPM, which are based on region proposal, the proposed framework is both proposal and anchor free. Consequently, we are able to avoid the tricky hyper-parameter tuning of anchors and reduce human intervention. The proposed framework is simple, neat and effective. Extensive experiments and comparisons with state-of-the-art trackers are conducted on many challenging benchmarks like GOT-10K, LaSOT, UAV123 and OTB-50. Without bells and whistles, our SiamCAR achieves the leading performance with a considerable real-time speed.

Accurate retinal vessel (RV) segmentation is a crucial step in the quantitative assessment of retinal vasculature, which is needed for the early detection of retinal diseases and other conditions. Numerous studies have been conducted to tackle the problem of segmenting vessels automatically using a pixel-wise classification approach. The common practice of creating ground truth labels is to categorize pixels as foreground and background. This approach is, however, biased, and it ignores the uncertainty of a human annotator when it comes to annotating e.g. thin vessels. In this work, we propose a simple and effective method that casts the RV segmentation task as an image-level regression. For this purpose, we first introduce a novel Segmentation Annotation Uncertainty-Aware (SAUNA) transform, which adds pixel uncertainty to the ground truth using the pixel's closeness to the annotation boundary and vessel thickness. To train our model with soft labels, we generalize the earlier proposed Jaccard metric loss to arbitrary hypercubes for soft Jaccard index (Intersection-over-Union) optimization. Additionally, we employ a stable version of the Focal-L1 loss for pixel-wise regression. We conduct thorough experiments and compare our method to a diverse set of baselines across 5 retinal image datasets. Our empirical results indicate that the integration of the SAUNA transform and these segmentation losses led to significant performance boosts for different segmentation models. Particularly, our methodology enables UNet-like architectures to substantially outperform computational-intensive baselines. Our implementation is available at https://github.com/Oulu-IMEDS/SAUNA.

Glaucoma is the number one cause of irreversible blindness globally. A major challenge for accurate glaucoma detection and progression forecasting is the bottleneck of limited labeled patients with the state-of-the-art (SOTA) 3D retinal imaging data of optical coherence tomography (OCT). To address the data scarcity issue, this paper proposes two solutions. First, we develop a novel generalization-reinforced semi-supervised learning (SSL) model called pseudo supervisor to optimally utilize unlabeled data. Compared with SOTA models, the proposed pseudo supervisor optimizes the policy of predicting pseudo labels with unlabeled samples to improve empirical generalization. Our pseudo supervisor model is evaluated with two clinical tasks consisting of glaucoma detection and progression forecasting. The progression forecasting task is evaluated both unimodally and multimodally. Our pseudo supervisor model demonstrates superior performance than SOTA SSL comparison models. Moreover, our model also achieves the best results on the publicly available LAG fundus dataset. Second, we introduce the Harvard Glaucoma Detection and Progression (Harvard-GDP) Dataset, a multimodal multitask dataset that includes data from 1,000 patients with OCT imaging data, as well as labels for glaucoma detection and progression. This is the largest glaucoma detection dataset with 3D OCT imaging data and the first glaucoma progression forecasting dataset that is publicly available. Detailed sex and racial analysis are provided, which can be used by interested researchers for fairness learning studies. Our released dataset is benchmarked with several SOTA supervised CNN and transformer deep learning models. The dataset and code are made publicly available via https://ophai.hms.harvard.edu/datasets/harvard-gdp1000.

Feature encoding with respect to an over-complete dictionary learned by unsupervised methods, followed by spatial pyramid pooling, and linear classification, has exhibited powerful strength in various vision applications. Here we propose to use the feature learning pipeline for visual tracking. Tracking is implemented using tracking-by-detection and the resulted framework is very simple yet effective. First, online dictionary learning is used to build a dictionary, which captures the appearance changes of the tracking target as well as the background changes. Given a test image window, we extract local image patches from it and each local patch is encoded with respect to the dictionary. The encoded features are then pooled over a spatial pyramid to form an aggregated feature vector. Finally, a simple linear classifier is trained on these features. Our experiments show that the proposed powerful---albeit simple---tracker, outperforms all the state-of-the-art tracking methods that we have tested. Moreover, we evaluate the performance of different dictionary learning and feature encoding methods in the proposed tracking framework, and analyse the impact of each component in the tracking scenario. We also demonstrate the flexibility of feature learning by plugging it into Hare et al.'s tracking method. The outcome is, to our knowledge, the best tracker ever reported, which facilitates the advantages of both feature learning and structured output prediction.

Healthcare monitoring is crucial for early detection, timely intervention, and the ongoing management of health conditions, ultimately improving individuals' quality of life. Recent research shows that Large Language Models (LLMs) have demonstrated impressive performance in supporting healthcare tasks. However, existing LLM-based healthcare solutions typically rely on cloud-based systems, which raise privacy concerns and increase the risk of personal information leakage. As a result, there is growing interest in running these models locally on devices like mobile phones and wearables to protect users' privacy. Small Language Models (SLMs) are potential candidates to solve privacy and computational issues, as they are more efficient and better suited for local deployment. However, the performance of SLMs in healthcare domains has not yet been investigated. This paper examines the capability of SLMs to accurately analyze health data, such as steps, calories, sleep minutes, and other vital statistics, to assess an individual's health status. Our results show that, TinyLlama, which has 1.1 billion parameters, utilizes 4.31 GB memory, and has 0.48s latency, showing the best performance compared other four state-of-the-art (SOTA) SLMs on various healthcare applications. Our results indicate that SLMs could potentially be deployed on wearable or mobile devices for real-time health monitoring, providing a practical solution for efficient and privacy-preserving healthcare.

Event cameras are a novel type of biologically inspired vision sensor known for their high temporal resolution, high dynamic range, and low power consumption. Because of these properties, they are well-suited for processing fast motions that require rapid reactions. Although event cameras have recently shown competitive performance in unsupervised optical flow estimation, performance in detecting independently moving objects (IMOs) is lacking behind, although event-based methods would be suited for this task based on their low latency and HDR properties. Previous approaches to event-based IMO segmentation have been heavily dependent on labeled data. However, biological vision systems have developed the ability to avoid moving objects through daily tasks without being given explicit labels. In this work, we propose the first event framework that generates IMO pseudo-labels using geometric constraints. Due to its unsupervised nature, our method can handle an arbitrary number of not predetermined objects and is easily scalable to datasets where expensive IMO labels are not readily available. We evaluate our approach on the EVIMO dataset and show that it performs competitively with supervised methods, both quantitatively and qualitatively.

While recent multimodal large language models (MLLMs) have advanced automated ECG interpretation, they still face two key limitations: (1) insufficient multimodal synergy between time series signals and visual ECG representations, and (2) limited explainability in linking diagnoses to granular waveform evidence. We introduce GEM, the first MLLM unifying ECG time series, 12-lead ECG images and text for grounded and clinician-aligned ECG interpretation. GEM enables feature-grounded analysis, evidence-driven reasoning, and a clinician-like diagnostic process through three core innovations: a dual-encoder framework extracting complementary time series and image features, cross-modal alignment for effective multimodal understanding, and knowledge-guided instruction generation for generating high-granularity grounding data (ECG-Grounding) linking diagnoses to measurable parameters (e.g., QRS/PR Intervals). Additionally, we propose the Grounded ECG Understanding task, a clinically motivated benchmark designed to comprehensively assess the MLLM's capability in grounded ECG understanding. Experimental results on both existing and our proposed benchmarks show GEM significantly improves predictive performance (CSN 7.4% uparrow), explainability (22.7% uparrow), and grounding (24.8% uparrow), making it more suitable for real-world clinical applications. GitHub repository: https://github.com/lanxiang1017/GEM.git

We develop an algorithm which exceeds the performance of board certified cardiologists in detecting a wide range of heart arrhythmias from electrocardiograms recorded with a single-lead wearable monitor. We build a dataset with more than 500 times the number of unique patients than previously studied corpora. On this dataset, we train a 34-layer convolutional neural network which maps a sequence of ECG samples to a sequence of rhythm classes. Committees of board-certified cardiologists annotate a gold standard test set on which we compare the performance of our model to that of 6 other individual cardiologists. We exceed the average cardiologist performance in both recall (sensitivity) and precision (positive predictive value).

In this paper, a novel dual-sensing driver fatigue detection method combining computer vision and physiological signal analysis is proposed. The system exploits the complementary advantages of the two sensing modalities and breaks through the limitations of existing single-modality methods. We introduce an innovative architecture that combines real-time facial feature analysis with physiological signal processing, combined with advanced fusion strategies, for robust fatigue detection. The system is designed to run efficiently on existing hardware while maintaining high accuracy and reliability. Through comprehensive experiments, we demonstrate that our method outperforms traditional methods in both controlled environments and real-world conditions, while maintaining high accuracy. The practical applicability of the system has been verified through extensive tests in various driving scenarios and shows great potential in reducing fatigue-related accidents. This study contributes to the field by providing a more reliable, cost-effective, and humane solution for driver fatigue detection.

Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We show for the first time that using 3D Gaussians for map representation with unposed camera images and inertial measurements can enable accurate SLAM. Our method, MM3DGS, addresses the limitations of prior neural radiance field-based representations by enabling faster rendering, scale awareness, and improved trajectory tracking. Our framework enables keyframe-based mapping and tracking utilizing loss functions that incorporate relative pose transformations from pre-integrated inertial measurements, depth estimates, and measures of photometric rendering quality. We also release a multi-modal dataset, UT-MM, collected from a mobile robot equipped with a camera and an inertial measurement unit. Experimental evaluation on several scenes from the dataset shows that MM3DGS achieves 3x improvement in tracking and 5% improvement in photometric rendering quality compared to the current 3DGS SLAM state-of-the-art, while allowing real-time rendering of a high-resolution dense 3D map. Project Webpage: https://vita-group.github.io/MM3DGS-SLAM

To bridge the physical and virtual worlds for rapidly developed VR/AR applications, the ability to realistically drive 3D full-body avatars is of great significance. Although real-time body tracking with only the head-mounted displays (HMDs) and hand controllers is heavily under-constrained, a carefully designed end-to-end neural network is of great potential to solve the problem by learning from large-scale motion data. To this end, we propose a two-stage framework that can obtain accurate and smooth full-body motions with the three tracking signals of head and hands only. Our framework explicitly models the joint-level features in the first stage and utilizes them as spatiotemporal tokens for alternating spatial and temporal transformer blocks to capture joint-level correlations in the second stage. Furthermore, we design a set of loss terms to constrain the task of a high degree of freedom, such that we can exploit the potential of our joint-level modeling. With extensive experiments on the AMASS motion dataset and real-captured data, we validate the effectiveness of our designs and show our proposed method can achieve more accurate and smooth motion compared to existing approaches.

Multi-object tracking (MOT) is a rising topic in video processing technologies and has important application value in consumer electronics. Currently, tracking-by-detection (TBD) is the dominant paradigm for MOT, which performs target detection and association frame by frame. However, the association performance of TBD methods degrades in complex scenes with heavy occlusions, which hinders the application of such methods in real-world scenarios.To this end, we incorporate pseudo-depth cues to enhance the association performance and propose Pseudo-Depth SORT (PD-SORT). First, we extend the Kalman filter state vector with pseudo-depth states. Second, we introduce a novel depth volume IoU (DVIoU) by combining the conventional 2D IoU with pseudo-depth. Furthermore, we develop a quantized pseudo-depth measurement (QPDM) strategy for more robust data association. Besides, we also integrate camera motion compensation (CMC) to handle dynamic camera situations. With the above designs, PD-SORT significantly alleviates the occlusion-induced ambiguous associations and achieves leading performances on DanceTrack, MOT17, and MOT20. Note that the improvement is especially obvious on DanceTrack, where objects show complex motions, similar appearances, and frequent occlusions. The code is available at https://github.com/Wangyc2000/PD_SORT.

Tracking any point (TAP) recently shifted the motion estimation paradigm from focusing on individual salient points with local templates to tracking arbitrary points with global image contexts. However, while research has mostly focused on driving the accuracy of models in nominal settings, addressing scenarios with difficult lighting conditions and high-speed motions remains out of reach due to the limitations of the sensor. This work addresses this challenge with the first event camera-based TAP method. It leverages the high temporal resolution and high dynamic range of event cameras for robust high-speed tracking, and the global contexts in TAP methods to handle asynchronous and sparse event measurements. We further extend the TAP framework to handle event feature variations induced by motion -- thereby addressing an open challenge in purely event-based tracking -- with a novel feature-alignment loss which ensures the learning of motion-robust features. Our method is trained with data from a new data generation pipeline and systematically ablated across all design decisions. Our method shows strong cross-dataset generalization and performs 136% better on the average Jaccard metric than the baselines. Moreover, on an established feature tracking benchmark, it achieves a 20% improvement over the previous best event-only method and even surpasses the previous best events-and-frames method by 4.1%. Our code is available at https://github.com/tub-rip/ETAP

This paper introduces Deep HM-SORT, a novel online multi-object tracking algorithm specifically designed to enhance the tracking of athletes in sports scenarios. Traditional multi-object tracking methods often struggle with sports environments due to the similar appearances of players, irregular and unpredictable movements, and significant camera motion. Deep HM-SORT addresses these challenges by integrating deep features, harmonic mean, and Expansion IOU. By leveraging the harmonic mean, our method effectively balances appearance and motion cues, significantly reducing ID-swaps. Additionally, our approach retains all tracklets indefinitely, improving the re-identification of players who leave and re-enter the frame. Experimental results demonstrate that Deep HM-SORT achieves state-of-the-art performance on two large-scale public benchmarks, SportsMOT and SoccerNet Tracking Challenge 2023. Specifically, our method achieves 80.1 HOTA on the SportsMOT dataset and 85.4 HOTA on the SoccerNet-Tracking dataset, outperforming existing trackers in key metrics such as HOTA, IDF1, AssA, and MOTA. This robust solution provides enhanced accuracy and reliability for automated sports analytics, offering significant improvements over previous methods without introducing additional computational cost.

Single-stream architectures using Vision Transformer (ViT) backbones show great potential for real-time UAV tracking recently. However, frequent occlusions from obstacles like buildings and trees expose a major drawback: these models often lack strategies to handle occlusions effectively. New methods are needed to enhance the occlusion resilience of single-stream ViT models in aerial tracking. In this work, we propose to learn Occlusion-Robust Representations (ORR) based on ViTs for UAV tracking by enforcing an invariance of the feature representation of a target with respect to random masking operations modeled by a spatial Cox process. Hopefully, this random masking approximately simulates target occlusions, thereby enabling us to learn ViTs that are robust to target occlusion for UAV tracking. This framework is termed ORTrack. Additionally, to facilitate real-time applications, we propose an Adaptive Feature-Based Knowledge Distillation (AFKD) method to create a more compact tracker, which adaptively mimics the behavior of the teacher model ORTrack according to the task's difficulty. This student model, dubbed ORTrack-D, retains much of ORTrack's performance while offering higher efficiency. Extensive experiments on multiple benchmarks validate the effectiveness of our method, demonstrating its state-of-the-art performance. Codes is available at https://github.com/wuyou3474/ORTrack.

For a long time, the most common paradigm in Multi-Object Tracking was tracking-by-detection (TbD), where objects are first detected and then associated over video frames. For association, most models resourced to motion and appearance cues, e.g., re-identification networks. Recent approaches based on attention propose to learn the cues in a data-driven manner, showing impressive results. In this paper, we ask ourselves whether simple good old TbD methods are also capable of achieving the performance of end-to-end models. To this end, we propose two key ingredients that allow a standard re-identification network to excel at appearance-based tracking. We extensively analyse its failure cases, and show that a combination of our appearance features with a simple motion model leads to strong tracking results. Our tracker generalizes to four public datasets, namely MOT17, MOT20, BDD100k, and DanceTrack, achieving state-of-the-art performance. https://github.com/dvl-tum/GHOST.

Visual Object Tracking (VOT) is a fundamental task with widespread applications in autonomous navigation, surveillance, and maritime robotics. Despite significant advances in generic object tracking, maritime environments continue to present unique challenges, including specular water reflections, low-contrast targets, dynamically changing backgrounds, and frequent occlusions. These complexities significantly degrade the performance of state-of-the-art tracking algorithms, highlighting the need for domain-specific datasets. To address this gap, we introduce the Maritime Visual Tracking Dataset (MVTD), a comprehensive and publicly available benchmark specifically designed for maritime VOT. MVTD comprises 182 high-resolution video sequences, totaling approximately 150,000 frames, and includes four representative object classes: boat, ship, sailboat, and unmanned surface vehicle (USV). The dataset captures a diverse range of operational conditions and maritime scenarios, reflecting the real-world complexities of maritime environments. We evaluated 14 recent SOTA tracking algorithms on the MVTD benchmark and observed substantial performance degradation compared to their performance on general-purpose datasets. However, when fine-tuned on MVTD, these models demonstrate significant performance gains, underscoring the effectiveness of domain adaptation and the importance of transfer learning in specialized tracking contexts. The MVTD dataset fills a critical gap in the visual tracking community by providing a realistic and challenging benchmark for maritime scenarios. Dataset and Source Code can be accessed here "https://github.com/AhsanBaidar/MVTD".

Humanoid robots and mixed reality headsets benefit from the use of head-mounted sensors for tracking. While advancements in visual-inertial odometry (VIO) and simultaneous localization and mapping (SLAM) have produced new and high-quality state-of-the-art tracking systems, we show that these are still unable to gracefully handle many of the challenging settings presented in the head-mounted use cases. Common scenarios like high-intensity motions, dynamic occlusions, long tracking sessions, low-textured areas, adverse lighting conditions, saturation of sensors, to name a few, continue to be covered poorly by existing datasets in the literature. In this way, systems may inadvertently overlook these essential real-world issues. To address this, we present the Monado SLAM dataset, a set of real sequences taken from multiple virtual reality headsets. We release the dataset under a permissive CC BY 4.0 license, to drive advancements in VIO/SLAM research and development.

Group Activity Recognition aims to understand collective activities from videos. Existing solutions primarily rely on the RGB modality, which encounters challenges such as background variations, occlusions, motion blurs, and significant computational overhead. Meanwhile, current keypoint-based methods offer a lightweight and informative representation of human motions but necessitate accurate individual annotations and specialized interaction reasoning modules. To address these limitations, we design a panoramic graph that incorporates multi-person skeletons and objects to encapsulate group activity, offering an effective alternative to RGB video. This panoramic graph enables Graph Convolutional Network (GCN) to unify intra-person, inter-person, and person-object interactive modeling through spatial-temporal graph convolutions. In practice, we develop a novel pipeline that extracts skeleton coordinates using pose estimation and tracking algorithms and employ Multi-person Panoramic GCN (MP-GCN) to predict group activities. Extensive experiments on Volleyball and NBA datasets demonstrate that the MP-GCN achieves state-of-the-art performance in both accuracy and efficiency. Notably, our method outperforms RGB-based approaches by using only estimated 2D keypoints as input. Code is available at https://github.com/mgiant/MP-GCN

Detection and tracking are the basic tasks of radar systems. Current joint detection tracking methods, which focus on dynamically adjusting detection thresholds from tracking results, still present challenges in fully utilizing the potential of radar signals. These are mainly reflected in the limited capacity of the constant false-alarm rate model to accurately represent information, the insufficient depiction of complex scenes, and the limited information acquired by the tracker. We introduce the Integrated Detection and Tracking based on radar feature (InDT) method, which comprises a network architecture for radar signal detection and a tracker that leverages detection assistance. The InDT detector extracts feature information from each Range-Doppler (RD) matrix and then returns the target position through the feature enhancement module and the detection head. The InDT tracker adaptively updates the measurement noise covariance of the Kalman filter based on detection confidence. The similarity of target RD features is measured by cosine distance, which enhances the data association process by combining location and feature information. Finally, the efficacy of the proposed method was validated through testing on both simulated data and publicly available datasets.

We introduce HOT3D, a publicly available dataset for egocentric hand and object tracking in 3D. The dataset offers over 833 minutes (more than 3.7M images) of multi-view RGB/monochrome image streams showing 19 subjects interacting with 33 diverse rigid objects, multi-modal signals such as eye gaze or scene point clouds, as well as comprehensive ground-truth annotations including 3D poses of objects, hands, and cameras, and 3D models of hands and objects. In addition to simple pick-up/observe/put-down actions, HOT3D contains scenarios resembling typical actions in a kitchen, office, and living room environment. The dataset is recorded by two head-mounted devices from Meta: Project Aria, a research prototype of light-weight AR/AI glasses, and Quest 3, a production VR headset sold in millions of units. Ground-truth poses were obtained by a professional motion-capture system using small optical markers attached to hands and objects. Hand annotations are provided in the UmeTrack and MANO formats and objects are represented by 3D meshes with PBR materials obtained by an in-house scanner. In our experiments, we demonstrate the effectiveness of multi-view egocentric data for three popular tasks: 3D hand tracking, 6DoF object pose estimation, and 3D lifting of unknown in-hand objects. The evaluated multi-view methods, whose benchmarking is uniquely enabled by HOT3D, significantly outperform their single-view counterparts.

Tracking dense 3D motion from monocular videos remains challenging, particularly when aiming for pixel-level precision over long sequences. We introduce \Approach, a novel method that efficiently tracks every pixel in 3D space, enabling accurate motion estimation across entire videos. Our approach leverages a joint global-local attention mechanism for reduced-resolution tracking, followed by a transformer-based upsampler to achieve high-resolution predictions. Unlike existing methods, which are limited by computational inefficiency or sparse tracking, \Approach delivers dense 3D tracking at scale, running over 8x faster than previous methods while achieving state-of-the-art accuracy. Furthermore, we explore the impact of depth representation on tracking performance and identify log-depth as the optimal choice. Extensive experiments demonstrate the superiority of \Approach on multiple benchmarks, achieving new state-of-the-art results in both 2D and 3D dense tracking tasks. Our method provides a robust solution for applications requiring fine-grained, long-term motion tracking in 3D space.

We introduce GoTrack, an efficient and accurate CAD-based method for 6DoF object pose refinement and tracking, which can handle diverse objects without any object-specific training. Unlike existing tracking methods that rely solely on an analysis-by-synthesis approach for model-to-frame registration, GoTrack additionally integrates frame-to-frame registration, which saves compute and stabilizes tracking. Both types of registration are realized by optical flow estimation. The model-to-frame registration is noticeably simpler than in existing methods, relying only on standard neural network blocks (a transformer is trained on top of DINOv2) and producing reliable pose confidence scores without a scoring network. For the frame-to-frame registration, which is an easier problem as consecutive video frames are typically nearly identical, we employ a light off-the-shelf optical flow model. We demonstrate that GoTrack can be seamlessly combined with existing coarse pose estimation methods to create a minimal pipeline that reaches state-of-the-art RGB-only results on standard benchmarks for 6DoF object pose estimation and tracking. Our source code and trained models are publicly available at https://github.com/facebookresearch/gotrack

We present a simple, self-supervised approach to the Tracking Any Point (TAP) problem. We train a global matching transformer to find cycle consistent tracks through video via contrastive random walks, using the transformer's attention-based global matching to define the transition matrices for a random walk on a space-time graph. The ability to perform "all pairs" comparisons between points allows the model to obtain high spatial precision and to obtain a strong contrastive learning signal, while avoiding many of the complexities of recent approaches (such as coarse-to-fine matching). To do this, we propose a number of design decisions that allow global matching architectures to be trained through self-supervision using cycle consistency. For example, we identify that transformer-based methods are sensitive to shortcut solutions, and propose a data augmentation scheme to address them. Our method achieves strong performance on the TapVid benchmarks, outperforming previous self-supervised tracking methods, such as DIFT, and is competitive with several supervised methods.

Accurate whole-body multi-person pose estimation and tracking is an important yet challenging topic in computer vision. To capture the subtle actions of humans for complex behavior analysis, whole-body pose estimation including the face, body, hand and foot is essential over conventional body-only pose estimation. In this paper, we present AlphaPose, a system that can perform accurate whole-body pose estimation and tracking jointly while running in realtime. To this end, we propose several new techniques: Symmetric Integral Keypoint Regression (SIKR) for fast and fine localization, Parametric Pose Non-Maximum-Suppression (P-NMS) for eliminating redundant human detections and Pose Aware Identity Embedding for jointly pose estimation and tracking. During training, we resort to Part-Guided Proposal Generator (PGPG) and multi-domain knowledge distillation to further improve the accuracy. Our method is able to localize whole-body keypoints accurately and tracks humans simultaneously given inaccurate bounding boxes and redundant detections. We show a significant improvement over current state-of-the-art methods in both speed and accuracy on COCO-wholebody, COCO, PoseTrack, and our proposed Halpe-FullBody pose estimation dataset. Our model, source codes and dataset are made publicly available at https://github.com/MVIG-SJTU/AlphaPose.

Periodic human activities with implicit workflows are common in manufacturing, sports, and daily life. While short-term periodic activities -- characterized by simple structures and high-contrast patterns -- have been widely studied, long-term periodic workflows with low-contrast patterns remain largely underexplored. To bridge this gap, we introduce the first benchmark comprising 580 multimodal human activity sequences featuring long-term periodic workflows. The benchmark supports three evaluation tasks aligned with real-world applications: unsupervised periodic workflow detection, task completion tracking, and procedural anomaly detection. We also propose a lightweight, training-free baseline for modeling diverse periodic workflow patterns. Experiments show that: (i) our benchmark presents significant challenges to both unsupervised periodic detection methods and zero-shot approaches based on powerful large language models (LLMs); (ii) our baseline outperforms competing methods by a substantial margin in all evaluation tasks; and (iii) in real-world applications, our baseline demonstrates deployment advantages on par with traditional supervised workflow detection approaches, eliminating the need for annotation and retraining. Our project page is https://sites.google.com/view/periodicworkflow.

Driver Monitoring Systems (DMSs) are crucial for safe hand-over actions in Level-2+ self-driving vehicles. State-of-the-art DMSs leverage multiple sensors mounted at different locations to monitor the driver and the vehicle's interior scene and employ decision-level fusion to integrate these heterogenous data. However, this fusion method may not fully utilize the complementarity of different data sources and may overlook their relative importance. To address these limitations, we propose a novel multiview multimodal driver monitoring system based on feature-level fusion through multi-head self-attention (MHSA). We demonstrate its effectiveness by comparing it against four alternative fusion strategies (Sum, Conv, SE, and AFF). We also present a novel GPU-friendly supervised contrastive learning framework SuMoCo to learn better representations. Furthermore, We fine-grained the test split of the DAD dataset to enable the multi-class recognition of drivers' activities. Experiments on this enhanced database demonstrate that 1) the proposed MHSA-based fusion method (AUC-ROC: 97.0\%) outperforms all baselines and previous approaches, and 2) training MHSA with patch masking can improve its robustness against modality/view collapses. The code and annotations are publicly available.

Event camera-based visual tracking has drawn more and more attention in recent years due to the unique imaging principle and advantages of low energy consumption, high dynamic range, and dense temporal resolution. Current event-based tracking algorithms are gradually hitting their performance bottlenecks, due to the utilization of vision Transformer and the static template for target object localization. In this paper, we propose a novel Mamba-based visual tracking framework that adopts the state space model with linear complexity as a backbone network. The search regions and target template are fed into the vision Mamba network for simultaneous feature extraction and interaction. The output tokens of search regions will be fed into the tracking head for target localization. More importantly, we consider introducing a dynamic template update strategy into the tracking framework using the Memory Mamba network. By considering the diversity of samples in the target template library and making appropriate adjustments to the template memory module, a more effective dynamic template can be integrated. The effective combination of dynamic and static templates allows our Mamba-based tracking algorithm to achieve a good balance between accuracy and computational cost on multiple large-scale datasets, including EventVOT, VisEvent, and FE240hz. The source code will be released on https://github.com/Event-AHU/MambaEVT

Despite the extensive adoption of machine learning on the task of visual object tracking, recent learning-based approaches have largely overlooked the fact that visual tracking is a sequence-level task in its nature; they rely heavily on frame-level training, which inevitably induces inconsistency between training and testing in terms of both data distributions and task objectives. This work introduces a sequence-level training strategy for visual tracking based on reinforcement learning and discusses how a sequence-level design of data sampling, learning objectives, and data augmentation can improve the accuracy and robustness of tracking algorithms. Our experiments on standard benchmarks including LaSOT, TrackingNet, and GOT-10k demonstrate that four representative tracking models, SiamRPN++, SiamAttn, TransT, and TrDiMP, consistently improve by incorporating the proposed methods in training without modifying architectures.

Multi-Camera Multi-Object Tracking (MC-MOT) utilizes information from multiple views to better handle problems with occlusion and crowded scenes. Recently, the use of graph-based approaches to solve tracking problems has become very popular. However, many current graph-based methods do not effectively utilize information regarding spatial and temporal consistency. Instead, they rely on single-camera trackers as input, which are prone to fragmentation and ID switch errors. In this paper, we propose a novel reconfigurable graph model that first associates all detected objects across cameras spatially before reconfiguring it into a temporal graph for Temporal Association. This two-stage association approach enables us to extract robust spatial and temporal-aware features and address the problem with fragmented tracklets. Furthermore, our model is designed for online tracking, making it suitable for real-world applications. Experimental results show that the proposed graph model is able to extract more discriminating features for object tracking, and our model achieves state-of-the-art performance on several public datasets.

Tracking any point based on image frames is constrained by frame rates, leading to instability in high-speed scenarios and limited generalization in real-world applications. To overcome these limitations, we propose an image-event fusion point tracker, FE-TAP, which combines the contextual information from image frames with the high temporal resolution of events, achieving high frame rate and robust point tracking under various challenging conditions. Specifically, we designed an Evolution Fusion module (EvoFusion) to model the image generation process guided by events. This module can effectively integrate valuable information from both modalities operating at different frequencies. To achieve smoother point trajectories, we employed a transformer-based refinement strategy that updates the point's trajectories and features iteratively. Extensive experiments demonstrate that our method outperforms state-of-the-art approaches, particularly improving expected feature age by 24% on EDS datasets. Finally, we qualitatively validated the robustness of our algorithm in real driving scenarios using our custom-designed high-resolution image-event synchronization device. Our source code will be released at https://github.com/ljx1002/FE-TAP.

Monocular 3D tracking aims to capture the long-term motion of pixels in 3D space from a single monocular video and has witnessed rapid progress in recent years. However, we argue that the existing monocular 3D tracking methods still fall short in separating the camera motion from foreground dynamic motion and cannot densely track newly emerging dynamic subjects in the videos. To address these two limitations, we propose TrackingWorld, a novel pipeline for dense 3D tracking of almost all pixels within a world-centric 3D coordinate system. First, we introduce a tracking upsampler that efficiently lifts the arbitrary sparse 2D tracks into dense 2D tracks. Then, to generalize the current tracking methods to newly emerging objects, we apply the upsampler to all frames and reduce the redundancy of 2D tracks by eliminating the tracks in overlapped regions. Finally, we present an efficient optimization-based framework to back-project dense 2D tracks into world-centric 3D trajectories by estimating the camera poses and the 3D coordinates of these 2D tracks. Extensive evaluations on both synthetic and real-world datasets demonstrate that our system achieves accurate and dense 3D tracking in a world-centric coordinate frame.