Template-Search Domain Adaptation via Multi-Stage Feature Alignment for Cross-Modal Object Tracking

Abstract

Visual object tracking typically assumes that the initial template and subsequent search frames share the same sensing modality. In practice, sensor availability or operation may change over time, creating a substantial representation gap between template and search frames. Unlike conventional multi-modal tracking where paired modalities are simultaneously available, cross-modal tracking requires localization when template and search frames originate from different active modalities. Accordingly, we introduce TSDA-Track, a Template-Search Domain Adaptation framework to reduce modality discrepancy during training. We investigate two feature alignment strategies. Pre-AFA TSDA-Track applies adversarial alignment before transformer's template-search interaction to suppress modality-specific bias. Enc-CFA TSDA-Track applies contrastive alignment to encoder representations after interaction to strengthen target-level cross-modal correspondence. Both variants retain a shared inference pipeline without modality-specific branches. Experiments on LasHeR, and zero-shot evaluations on RGBT234 and GTOT under multiple cross-modal protocols demonstrate improvements over representative state-of-the-art trackers. For instance, under the modality-switch protocol on RGBT234, Pre-AFA TSDA-Track achieves an SR/PR of 43.2/56.0, compared with 36.8/50.0 for ToMP-101 baseline. In addition, a study on Anti-UAV-024 further verifies the applicability of TSDA-Track to aerial tracking. Our study highlights the effectiveness of feature alignment domain adaptation for cross-modal tracking.