OmniTrack++: Omnidirectional Multi-Object Tracking by Learning Large-FoV Trajectory Feedback

• URL: http://arxiv.org/abs/2511.00510v1
• Date: Sat, 01 Nov 2025 11:28:05 GMT
• Title: OmniTrack++: Omnidirectional Multi-Object Tracking by Learning Large-FoV Trajectory Feedback
• Authors: Kai Luo, Hao Shi, Kunyu Peng, Fei Teng, Sheng Wu, Kaiwei Wang, Kailun Yang,
• Abstract summary: This paper investigates Multi-Object Tracking (MOT) in panoramic imagery.<n>MOT introduces unique challenges including a 360deg Field of View (FoV), resolution dilution, and severe view-dependent distortions.<n>To address panoramic distortion, large search space, and identity ambiguity under a 360deg FoV, OmniTrack++ adopts a feedback-driven framework.
• Score: 40.746857157430256
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper investigates Multi-Object Tracking (MOT) in panoramic imagery, which introduces unique challenges including a 360{\deg} Field of View (FoV), resolution dilution, and severe view-dependent distortions. Conventional MOT methods designed for narrow-FoV pinhole cameras generalize unsatisfactorily under these conditions. To address panoramic distortion, large search space, and identity ambiguity under a 360{\deg} FoV, OmniTrack++ adopts a feedback-driven framework that progressively refines perception with trajectory cues. A DynamicSSM block first stabilizes panoramic features, implicitly alleviating geometric distortion. On top of normalized representations, FlexiTrack Instances use trajectory-informed feedback for flexible localization and reliable short-term association. To ensure long-term robustness, an ExpertTrack Memory consolidates appearance cues via a Mixture-of-Experts design, enabling recovery from fragmented tracks and reducing identity drift. Finally, a Tracklet Management module adaptively switches between end-to-end and tracking-by-detection modes according to scene dynamics, offering a balanced and scalable solution for panoramic MOT. To support rigorous evaluation, we establish the EmboTrack benchmark, a comprehensive dataset for panoramic MOT that includes QuadTrack, captured with a quadruped robot, and BipTrack, collected with a bipedal wheel-legged robot. Together, these datasets span wide-angle environments and diverse motion patterns, providing a challenging testbed for real-world panoramic perception. Extensive experiments on JRDB and EmboTrack demonstrate that OmniTrack++ achieves state-of-the-art performance, yielding substantial HOTA improvements of +25.5% on JRDB and +43.07% on QuadTrack over the original OmniTrack. Datasets and code will be made publicly available at https://github.com/xifen523/OmniTrack.

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