TAPVid-MV: A Benchmark for Tracking Any Point in 3D Across Multiple Views

2026-09-01

AI Summary

本文针对多视角下长期3D点跟踪的问题，提出了TAPVid-MV基准测试集，并通过多种辅助方式获取轨迹数据以供评估。

Abstract

Multi-camera systems are increasingly practical for robotics, AR/VR, and autonomous driving because complementary views reduce depth ambiguity and preserve visibility under occlusion. Existing point-tracking benchmarks, however, focus on a single video or static multi-camera rigs. None test long-term 3D point tracking across several synchronized views under camera motion. We introduce TAPVid-MV (Tracking Any Point in Video across Multiple Views), the first benchmark for this setting. It contains a curated set of 284 sequences, 1,142 calibrated camera streams, and 109,769 point tracks across seven subsets spanning indoor and outdoor domains, from robotics and human activity to driving and synthetic procedural scenes. We obtain these trajectories using dataset-specific auxiliary modalities: sensor depth, LiDAR, SLAM and SfM points, human meshes, posed object meshes, and simulation. Every sequence and trajectory is visually verified by human annotators. Across more than 30 baselines, no method comes close to solving the task. Surprisingly, existing multi-view point trackers do not consistently outperform monocular point trackers. By evaluating reconstruction and point tracking on the same datasets, TAPVid-MV helps distinguish errors in recovered geometry from errors in point correspondence. Through this joint analysis, we identify geometry recovery as a major bottleneck for accurate 3D point tracking. Beyond multi-view 3D point tracking, our released annotations support monocular 2D and 3D point tracking, future-trajectory prediction, and 4D reconstruction.

Problem

• Multi-view
• 3D Point Tracking
• Camera Motion
• Benchmark
• Long-term Tracking

Innovation

• multi-view 3D point tracking
• benchmark
• geometry recovery
• long-term tracking
• multiple synchronized views