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arXiv · 2509.08421

ATLASFusion: Aggregation Tracking with Location-Aware Sparse Fusion for Robust Spatio-Temporal Multi-View Pedestrian Tracking

Keisuke Toida·Taigo Sakai·Takeshi Nakamura·Hiroshi Shimizu·Kazuhiro Hotta
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Abstract

For multimedia spatial intelligence through time, multi-view multi-object tracking (MVMOT) suffers from persistent challenges in maintaining consistent object identities across different camera views, leading to tracking inaccuracies. A key source of these errors in modern methods is the distortion of feature representations when projecting from multiple views into a unified Bird's-Eye-View (BEV) space. This projection often creates non-uniform feature densities, harming the reliability of the fused representation. To address this, we present ATLASFusion, a reliability-aware sparse BEV fusion framework built on three complementary techniques: a sparse perspective transform that projects only valid feature points to prevent interpolation artifacts, density-aware weighted aggregation that assigns higher confidence to spatially reliable regions, and per-view BEV supervision that supervises each camera's BEV features independently before fusion. Experiments on the WildTrack and MultiViewX benchmarks demonstrated improvements in IDF1, MODP, and robustness over the baseline. ATLASFusion achieved a 95.9\% IDF1 tracking score on WildTrack, the highest among the compared methods and improved the localization precision (MODP) from 75.0\% to 89.2\% on MultiViewX. ATLASFusion also exhibited strong robustness under calibration noise. When high-magnitude noise was injected, TrackTacular failed entirely at 0.0\% MODA, whereas ATLASFusion retained 40.1\% MODA. When the input resolution was reduced by half, MVTr failed entirely and TrackTacular degraded by 2.7\% MODA, while ATLASFusion sustained 92.5\% MODA with only a 1.1\% decrease. These gains were achieved with negligible computational overhead.

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Keisuke Toida, Taigo Sakai, Takeshi Nakamura, Hiroshi Shimizu, Kazuhiro Hotta. 2026-08-09. ATLASFusion: Aggregation Tracking with Location-Aware Sparse Fusion for Robust Spatio-Temporal Multi-View Pedestrian Tracking. https://arxiv.org/abs/2509.08421

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