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MotionSync: Non-Causal Refinement of Causal Tracker for Label-Efficient 3D Perception

arXiv · AI, language, vision and robotics · article · Aug 30, 2026 · UTC

Three-dimensional box-and-track annotation is the cost bottleneck in autonomous-driving data engines, and the offline systems built to relieve it replace the online perception stack outright, so a team needing both regimes maintains and reconciles two. MotionSync makes the causal/non-causal boundary an explicit architectural seam instead. A strictly causal tracker, built on a strong published baseline and extended with innovation-driven uncertainty calibration, frame-rate-invariant kinematic association gates, and multi-hypothesis motion with learned mode selection, emits a valid online result

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