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arXiv · 2508.21060

Multi-View 3D Point Tracking

Frano Rajič·Haofei Xu·Marko Mihajlovic·Siyuan Li·Irem Demir·Emircan Gündoğdu·Lei Ke·Sergey Prokudin·Marc Pollefeys·Siyu Tang
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Abstract

We introduce the first data-driven multi-view 3D point tracker, designed to track arbitrary points in dynamic scenes using multiple camera views. Unlike existing monocular trackers, which struggle with depth ambiguities and occlusion, or prior multi-camera methods that require over 20 cameras and tedious per-sequence optimization, our feed-forward model directly predicts 3D correspondences using a practical number of cameras (e.g., four), enabling robust and accurate online tracking. Given known camera poses and either sensor-based or estimated multi-view depth, our tracker fuses multi-view features into a unified point cloud and applies k-nearest-neighbors correlation alongside a transformer-based update to reliably estimate long-range 3D correspondences, even under occlusion. We train on 5K synthetic multi-view Kubric sequences and evaluate on two real-world benchmarks: Panoptic Studio and DexYCB, achieving median trajectory errors of 3.1 cm and 2.0 cm, respectively. Our method generalizes well to diverse camera setups of 1-8 views with varying vantage points and video lengths of 24-150 frames. By releasing our tracker alongside training and evaluation datasets, we aim to set a new standard for multi-view 3D tracking research and provide a practical tool for real-world applications. Project page available at https://ethz-vlg.github.io/mvtracker.

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Frano Rajič, Haofei Xu, Marko Mihajlovic, Siyuan Li, Irem Demir, Emircan Gündoğdu, Lei Ke, Sergey Prokudin, Marc Pollefeys, Siyu Tang. 2025-08-28. Multi-View 3D Point Tracking. https://arxiv.org/abs/2508.21060

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