FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking

Haoxin Wu; Xiaokai Bai

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arXiv · 2610.01750

FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking

Haoxin Wu·Xiaokai Bai

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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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Haoxin Wu, Xiaokai Bai. 2026-10-01. FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Tracking. https://arxiv.org/abs/2610.01750

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