CDKF-Track: Cluster-aware Data-Driven Kalman Filtering for Cooperative 3D Multi-Object Tracking

Abstract:Multi-Object Tracking (MOT) is essential for EdgeAI perception systems, where accurate object localization and reliable identification enable safe decision-making. Singleagent MOT suffers from occlusions, sensor noise, and partial scene understanding in complex real-world scenarios. While multi-agent systems improve robustness by exploiting shared information, they introduce redundant measurements that lead to false data associations, and still struggle to capture nonlinear object dynamics. To address these challenges, we propose CDKFTrack, a Cluster-aware Data-Driven Kalman Filtering framework for Cooperative 3D MOT. The proposed method first fuses multivehicle 3D LiDAR detections through a Graph Laplacian-based formulation. Then, a cluster-aware redundancy reduction scheme groups spatially related detections and selects representative observations to reduce duplicate inputs to the tracker. The resulting detections are processed by a data-driven Kalman filter that learns object motion dynamics from data, reducing dependence on predefined linear motion assumptions. Furthermore, a wavelet-based temporal refinement module leverages the multiresolution decomposition property of wavelets to attenuate shortterm positional fluctuations and improve trajectory continuity. To the best of our knowledge, CDKF-Track is the first framework to jointly address detection-level fusion redundancy and learnable motion modeling in cooperative 3D MOT. Experimental results on the real-world V2V4Real dataset indicate that CDKF-Track achieves up to 27.99% improvements in tracking accuracy over state-of-the-art multi-agent MOT methods.

Robotics (cs.RO); Signal Processing (eess.SP)

arXiv:2609.25668 [cs.RO]

(or arXiv:2609.25668v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.25668 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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