CylindTrack: Depth-Aware Cylindrical Motion Modeling for Panoramic Multi-Object Tracking in Mobile Robots
Buyin Deng, Kai Luo, Lingxin Huang, Xinqi Liu, Fei Cheng, Hang Zheng, Liming Yin, Kailun Yang
Maintaining consistent target identities and observation histories is essential for mobile robot perception. Panoramic Multi-Object Tracking (MOT) benefits from broad visual coverage but must address coordinate discontinuities at the equirectangular image seam and fluctuations in relative-depth estimates. Such fluctuations can undermine depth-aware association, highlighting the need for temporally consistent depth cues. We propose CylindTrack, a depth-aware cylindrical tracking-by-detection framework that jointly models panoramic topology and temporal depth consistency. Depth-Temporal Trajectory Modeling (DTM) maintains instance depth and its rate of change as filtered trajectory states. Spherical Spatio-Temporal Consistency Learning (SSTC) combines a Temporal Mixer with Spherical Geometry-aware Attention to refine depth-aware representations. A Topology-Aware Cylindrical Motion Model (TCMM) represents horizontal motion in an unwrapped angular state and incorporates periodic overlap, angular consistency, and filtered depth cues into association. Experiments on QuadTrack and JRDB demonstrate improved identity consistency and trajectory continuity, with HOTA scores of 33.67 and 31.12 and IDF1 scores of 40.45 and 34.33, respectively. The framework processes 28.56 and 21.34 frames per second, respectively, on an NVIDIA GeForce RTX 3090 GPU under the reported evaluation settings. These results support persistent panoramic multi-object tracking for mobile robot perception. The source code will be released at https://github.com/warriordby/CylindTrack.
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