针对事件相机追踪中稀疏性与动态变化难题,提出自适应多密度特征学习框架。
Dynamic Pondering Sparsity-aware Mixture-of-Experts Transformer for Event Stream based Visual Object Tracking

- 分三阶段注入稀疏、中密、密集事件区域,实现多尺度密度建模
- 在FE240hz等数据集上达到高精度与低计算开销的平衡
- 适合需要实时性与强鲁棒性的视觉追踪场景
尽管取得显著进展,基于RGB的追踪器仍易受低光照、快速运动等挑战性成像条件影响。事件相机通过异步捕捉像素亮度变化,具备高动态范围和高时间分辨率,是潜在替代方案。然而,现有事件追踪方法常忽略事件数据的固有空间稀疏性和时间密度特性,且依赖单一固定时窗采样策略,在不同运动动态下表现不佳。本文提出一种事件稀疏性感知追踪框架,显式建模多时域下的事件密度变化。具体而言,该框架将稀疏、中等密度和密集事件搜索区域逐步注入三阶段视觉变换器主干网络,实现层次化多密度特征学习。此外,引入稀疏性感知混合专家模块以促进不同稀疏模式下的专家专业化,并设计动态权衡策略,根据追踪难度自适应调整推理深度。在FE240hz、COESOT和EventVOT上的大量实验表明,所提方法在追踪精度与计算效率之间实现了良好权衡。源代码将发布于https://github.com/Event-AHU/OpenEvTracking。
原文摘要 · Abstract (English)
Despite significant progress, RGB-based trackers remain vulnerable to challenging imaging conditions, such as low illumination and fast motion. Event cameras offer a promising alternative by asynchronously capturing pixel-wise brightness changes, providing high dynamic range and high temporal resolution. However, existing event-based trackers often neglect the intrinsic spatial sparsity and temporal density of event data, while relying on a single fixed temporal-window sampling strategy that is suboptimal under varying motion dynamics. In this paper, we propose an event sparsity-aware tracking framework that explicitly models event-density variations across multiple temporal scales. Specifically, the proposed framework progressively injects sparse, medium-density, and dense event search regions into a three-stage Vision Transformer backbone, enabling hierarchical multi-density feature learning. Furthermore, we introduce a sparsity-aware Mixture-of-Experts module to encourage expert specialization under different sparsity patterns, and design a dynamic pondering strategy to adaptively adjust the inference depth according to tracking difficulty. Extensive experiments on FE240hz, COESOT, and EventVOT demonstrate that the proposed approach achieves a favorable trade-off between tracking accuracy and computational efficiency. The source code will be released on https://github.com/Event-AHU/OpenEvTracking.
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