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arXiv · 2606.03875

Seg2Track++: Probabilistic Track Validation and Data Association for Multi-Object Tracking and Segmentation

Diogo Mendonça·Tiago Barros·Cristiano Premebida·Urbano J. Nunes
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Abstract

Autonomous systems require robust Multi-Object Tracking and Segmentation (MOTS) to operate reliably in dynamic environments, ensuring consistent object identities and precise mask-level delineation. Foundation models such as SAM2 have shown strong zero-shot generalization for segmentation, but their direct application to MOTS is limited by unreliable track association and false-positive propagation. This work introduces Seg2Track++, a framework that integrates instance segmentation with SAM2 and a novel track management module to perform zero-shot MOTS with enhanced temporal consistency. Tracks are associated using Mask Centroid Distance (MCD) and Confidence-Aware Cost Modulation (CCM), while Probabilistic Track Validation (PTV) employs a Bernoulli filter to validate track existence and suppress ghost tracks. Experimental results on KITTI MOTS demonstrate improved identity preservation, reduced false-positive propagation, and robust track management without fine-tuning.

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Diogo Mendonça, Tiago Barros, Cristiano Premebida, Urbano J. Nunes. 2026-06-02. Seg2Track++: Probabilistic Track Validation and Data Association for Multi-Object Tracking and Segmentation. https://arxiv.org/abs/2606.03875

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