Abstract
Cooperative 3D tracking must integrate complementary observations across agents and time while maintaining consistent identities. When evidence integration and identity inheritance share a matching decision, errors arising from cross-view appearance differences and spatial misalignment can compromise both feature fusion and track continuity. We propose FFBL-Coop, a fuse first, bind later framework that separates instance admission from identity management. Confidence-ranked Slot Admission (CSA) allocates cooperative queries to available ego slots using confidence and spatial proximity. Unified Representation Aggregation (URA) uses cooperative semantic features and aligned anchors to guide ego-feature retrieval, refining the augmented query bank within a shared transformer decoder. After refinement, Cooperative-Priority Identity Anchoring (CPIA) combines learned association with persistent mappings to establish accepted identity assignments across frames. A shared codebook reduces transmitted payload while retaining AP and AMOTA close to the uncompressed variant. FFBL-Coop achieves AMOTA/AP of 0.611/0.548 on V2X-Seq and 0.688/0.653 on Griffin-25M. Code will be released.
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Publication details
- Journal
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- Open access
- Green open access
Cite this article
APA 7
Wu, H., & Bai, X. (2026). FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking. https://omanscience.com/en/articles/ffbl-coop-association-decoupled-cooperative-3d-multi-object-tracking
MLA 9
Wu, Haoxin, and Xiaokai Bai. "FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking." https://omanscience.com/en/articles/ffbl-coop-association-decoupled-cooperative-3d-multi-object-tracking.
Chicago (author–date)
Wu, Haoxin, and Xiaokai Bai. 2026. "FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking." https://omanscience.com/en/articles/ffbl-coop-association-decoupled-cooperative-3d-multi-object-tracking.
Harvard
Wu, H. and Bai, X. (2026) 'FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking', Available at: https://omanscience.com/en/articles/ffbl-coop-association-decoupled-cooperative-3d-multi-object-tracking.
Vancouver
Wu H, Bai X. FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking. https://omanscience.com/en/articles/ffbl-coop-association-decoupled-cooperative-3d-multi-object-tracking
IEEE
H. Wu, and X. Bai, "FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking," https://omanscience.com/en/articles/ffbl-coop-association-decoupled-cooperative-3d-multi-object-tracking.