Abstract
Robust visual object tracking (VOT) remains challenging in high-speed motion scenarios, where conventional RGB sensors suffer from severe motion blur and performance degradation. Event cameras, with microsecond temporal resolution and high dynamic range, provide complementary structural cues that can potentially compensate for these limitations. However, existing RGB-Event fusion methods typically treat event data as dense intensity representations and adopt black-box fusion strategies, failing to explicitly leverage the directional geometric priors inherently encoded in event streams to rectify degraded RGB features. To address this limitation, we propose SOR-Track, a streamlined framework for robust RGB-Event tracking based on Spatial Orthogonal Refinement (SOR). The core SOR module employs a set of orthogonal directional filters that are dynamically guided by local motion orientations to extract sharp and motion-consistent structural responses from event streams. These responses serve as geometric anchors to modulate and refine aliased RGB textures through an asymmetric structural modulation mechanism, thereby explicitly bridging structural discrepancies between two modalities. Extensive experiments on the large-scale FE108 benchmark demonstrate that SOR-Track consistently outperforms existing fusion-based trackers, particularly under motion blur and low-light conditions. Despite its simplicity, the proposed method offers a principled and physics-grounded approach to multi-modal feature alignment and texture rectification. The source code of this paper will be released on this https URL
Abstract (translated)
在高速运动场景中，鲁棒视觉目标跟踪（VOT）仍面临挑战，传统RGB传感器易受严重运动模糊及性能下降的影响。事件相机凭借微秒级时间分辨率与高动态范围，提供了可弥补上述局限的补充性结构线索。然而，现有RGB-事件融合方法通常将事件数据视为密集强度表示，并采用黑盒融合策略，未能显式利用事件流中固有的方向几何先验来校正退化的RGB特征。针对这一局限，我们提出SOR-Track——一种基于空间正交细化（SOR）的轻量化RGB-事件跟踪框架。核心SOR模块通过一组由局部运动方向动态引导的正交方向滤波器，从事件流中提取清晰且运动一致的结构响应。这些响应作为几何锚点，经由非对称结构调制机制对混叠的RGB纹理进行调制与细化，从而显式弥合双模态间的结构差异。在大规模FE108基准上的大量实验表明，SOR-Track持续优于现有融合跟踪器，尤其在运动模糊与低光照条件下。尽管设计简洁，该方法仍提供了基于物理原理的多模态特征对齐与纹理校正方案。本文源代码将在此https URL发布。
URL
https://arxiv.org/abs/2603.27913
