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With rising computational requirements modern automated vehicles (AVs) oftenconsider trade-offs between energy consumption and perception performance,potentially jeopardizing their safe operation. Frame-dropping intracking-by-detection perception systems presents a promising approach,although late traffic participant detection might be induced.  In this paper, we extend our previous work on frame-dropping intracking-by-detection perception systems. We introduce an additionalevent-based triggering mechanism using camera object detections to increaseboth the system's efficiency, as well as its safety. Evaluating both single andmulti-modal tracking methods we show that late object detections are mitigatedwhile the potential for reduced energy consumption is significantly increased,reaching nearly 60 Watt per reduced point in HOTA score.

Advancing Frame-Dropping in Multi-Object Tracking-by-Detection Systems Through Event-Based Detection Triggering