Idling Vehicle Detection (IVD) seeks to determine, at the final frame of a video clip, whether any vehicle is idling, meaning the vehicle is stationary with its engine running, using synchronized video from a remote surveillance camera and multichannel audio captured by spatially distributed wireless microphones along the roadside. Prior full-image, clip-level fusion approaches tend to overfit scene background and full-frame context, produce unstable temporal decisions, and lack an explicit spatial prior to align vehicles with microphones, which makes them brittle under domain shift and data inefficient. Instead, we introduce TAVR-IVD, an audio-visual framework guided by multi-object tracking. Our method detects vehicles, links detections into tracklets, and classifies each vehicle by operating on its tracklet. This design raises the effective signal-to-noise ratio, stabilizes temporal decisions through tracklets, enforces an explicit spatial prior to align vehicles with microphones, and adapts across domains with limited calibration annotations while remaining detector agnostic and efficient. To evaluate deployment robustness, we further curate two evaluation extensions, AVIVD-LT and AVIVD-M, covering inter-day and cross-site shifts.

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