Boyue Xu

Boyue Xu, Ruichao Hou, Tongwei Ren et al.

UAV-ground visual tracking (UGVT) aims to simultaneously track the same object from both the UAV and the ground view. However, existing two-stream methods suffer from isolated feature extraction and rely heavily on implicit appearance matching, which struggles to establish reliable correspondence under drastic view differences, leading to tracking unreliability. To address these limitations, we propose VL-UniTrack, a fully unified framework enhanced by visual-language prompts. By encoding features from both views within a single shared encoder, our method breaks the barrier of feature isolation to facilitate sufficient cross-view interaction. To overcome the ambiguity caused by relying solely on appearance matching, we design visual-language geometric prompting module, which fuses language descriptions with visual features to generate learnable prompts. These prompts are then fed into our prompt-guided cross-view adapter module to enable sufficient cross-view feature interaction and to guide the learning of view-specific feature representations. Furthermore, a confidence-modulated mutual distillation loss is proposed to regularize the training by mitigating noise propagation. Extensive experiments demonstrate that our method achieves state-of-the-art performance on the latest benchmark. The code can be downloaded in https://github.com/xuboyue1999/VL-UniTrack.git

Boyue Xu, Ruichao Hou, Tongwei Ren et al.

Cross-modal object tracking (CMOT) is an emerging task that maintains target consistency while the video stream switches between different modalities, with only one modality available in each frame, mostly focusing on RGB-Near Infrared (RGB-NIR) tracking. Existing methods typically connect parallel RGB and NIR branches to a shared backbone, which limits the comprehensive extraction of distinctive modality-specific features and fails to address the issue of object drift, especially in the presence of unreliable inputs. In this paper, we propose SwiTrack, a novel state-switching framework that redefines CMOT through the deployment of three specialized streams. Specifically, RGB frames are processed by the visual encoder, while NIR frames undergo refinement via a NIR gated adapter coupled with the visual encoder to progressively calibrate shared latent space features, thereby yielding more robust cross-modal representations. For invalid modalities, a consistency trajectory prediction module leverages spatio-temporal cues to estimate target movement, ensuring robust tracking and mitigating drift. Additionally, we incorporate dynamic template reconstruction to iteratively update template features and employ a similarity alignment loss to reinforce feature consistency. Experimental results on the latest benchmarks demonstrate that our tracker achieves state-of-the-art performance, boosting precision rate and success rate gains by 7.2\% and 4.3\%, respectively, while maintaining real-time tracking at 65 frames per second. Code and models are available at https://github.com/xuboyue1999/SwiTrack.git.

Boyue Xu, Ruichao Hou, Tongwei Ren et al.

Prompt-learning-based multi-modal trackers have made strong progress by using lightweight visual adapters to inject auxiliary-modality cues into frozen foundation models. However, they still underutilize two essentials: modality-specific frequency structure and long-range temporal dependencies. We present Learning Frequency and Memory-Aware Prompts, a dual-adapter framework that injects lightweight prompts into a frozen RGB tracker. A frequency-guided visual adapter adaptively transfers complementary cues across modalities by jointly calibrating spatial, channel, and frequency components, narrowing the modality gap without full fine-tuning. A multilevel memory adapter with short, long, and permanent memory stores, updates, and retrieves reliable temporal context, enabling consistent propagation across frames and robust recovery from occlusion, motion blur, and illumination changes. This unified design preserves the efficiency of prompt learning while strengthening cross-modal interaction and temporal coherence. Extensive experiments on RGB-Thermal, RGB-Depth, and RGB-Event benchmarks show consistent state-of-the-art results over fully fine-tuned and adapter-based baselines, together with favorable parameter efficiency and runtime. Code and models are available at https://github.com/xuboyue1999/mmtrack.git.

Ruichao Hou, Boyue Xu, Tongwei Ren et al.

The ability to learn robust multi-modality representation has played a critical role in the development of RGBT tracking. However, the regular fusion paradigm and the invariable tracking template remain restrictive to the feature interaction. In this paper, we propose a modality-aware tracker based on transformer, termed MTNet. Specifically, a modality-aware network is presented to explore modality-specific cues, which contains both channel aggregation and distribution module(CADM) and spatial similarity perception module (SSPM). A transformer fusion network is then applied to capture global dependencies to reinforce instance representations. To estimate the precise location and tackle the challenges, such as scale variation and deformation, we design a trident prediction head and a dynamic update strategy which jointly maintain a reliable template for facilitating inter-frame communication. Extensive experiments validate that the proposed method achieves satisfactory results compared with the state-of-the-art competitors on three RGBT benchmarks while reaching real-time speed.

Boyue Xu, Yi Xu, Ruichao Hou et al.

The integration of dual-modal features has been pivotal in advancing RGB-Depth (RGB-D) tracking. However, current trackers are less efficient and focus solely on single-level features, resulting in weaker robustness in fusion and slower speeds that fail to meet the demands of real-world applications. In this paper, we introduce a novel network, denoted as HMAD (Hierarchical Modality Aggregation and Distribution), which addresses these challenges. HMAD leverages the distinct feature representation strengths of RGB and depth modalities, giving prominence to a hierarchical approach for feature distribution and fusion, thereby enhancing the robustness of RGB-D tracking. Experimental results on various RGB-D datasets demonstrate that HMAD achieves state-of-the-art performance. Moreover, real-world experiments further validate HMAD's capacity to effectively handle a spectrum of tracking challenges in real-time scenarios.

Boyue Xu, Ruichao Hou, Tongwei Ren et al.

The RGB-Depth (RGB-D) Video Object Segmentation (VOS) aims to integrate the fine-grained texture information of RGB with the spatial geometric clues of depth modality, boosting the performance of segmentation. However, off-the-shelf RGB-D segmentation methods fail to fully explore cross-modal information and suffer from object drift during long-term prediction. In this paper, we propose a novel RGB-D VOS method via multi-store feature memory for robust segmentation. Specifically, we design the hierarchical modality selection and fusion, which adaptively combines features from both modalities. Additionally, we develop a segmentation refinement module that effectively utilizes the Segmentation Anything Model (SAM) to refine the segmentation mask, ensuring more reliable results as memory to guide subsequent segmentation tasks. By leveraging spatio-temporal embedding and modality embedding, mixed prompts and fused images are fed into SAM to unleash its potential in RGB-D VOS. Experimental results show that the proposed method achieves state-of-the-art performance on the latest RGB-D VOS benchmark.