MvT: Event-Based Multi-View Projection for Multiple Object Tracking

Abstract

Event cameras are increasingly used for Multiple Object Tracking (MOT), but their asynchronous event output often requires specialized methods. Existing processing methods primarily follow two paradigms, pseudo-frames and event-by-event. The former is the prevailing approach since its data format aligns with images, making image-based techniques applicable. However, it suffers from tracking failures when trajectories overlap or are spatially close on pseudo-frames. Facing this challenge, we propose a multi-view pipeline, Multi-view Tracking (MvT), which preserves the 2D data format to leverage image-based techniques directly while introducing additional spatio-temporal views to resolve tracking ambiguities in a single view. MvT comprises a Multi-view Projection (MvP) module and a Multi-view Fusion (MvF) stage. MvP encodes events into three complementary spatio-temporal views while mitigating the pattern discretization. Within MvF, multi-view results are unified into a 3D coordinate system, and tracklets are associated through an optimization model subject to specific criteria combination. Evaluations on four datasets, including our self-collected Small Objects Dataset (SOD), show that MvT seamlessly integrates image-based methods and outperforms existing non-learning and learning trackers in generalized scenarios, and effectively resolves the single-view tracking ambiguities. Being training-free, MvT is applicable when ground-truth annotation is infeasible, thereby highlighting its practical, data-efficient potential. Code is available at https://github.com/zhazhabiu/MvTracking