Sigma: Siamese Mamba Network for Multi-Modal Semantic Segmentation
Zifu Wan Yuhao Wang Silong Yong Pingping Zhang Simon Stepputtis Katia Sycara Yaqi Xie
Multi-modal semantic segmentation significantly enhances AI agents'
perception and scene understanding, especially under adverse conditions like
low-light or overexposed environments. Leveraging additional modalities
(X-modality) like thermal and depth alongside traditional RGB provides
complementary information, enabling more robust and reliable segmentation. In
this work, we introduce Sigma, a Siamese Mamba network for multi-modal semantic
segmentation, utilizing the Selective Structured State Space Model, Mamba.
Unlike conventional methods that rely on CNNs, with their limited local
receptive fields, or Vision Transformers (ViTs), which offer global receptive
fields at the cost of quadratic complexity, our model achieves global receptive
fields coverage with linear complexity. By employing a Siamese encoder and
innovating a Mamba fusion mechanism, we effectively select essential
information from different modalities. A decoder is then developed to enhance
the channel-wise modeling ability of the model. Our method, Sigma, is
rigorously evaluated on both RGB-Thermal and RGB-Depth segmentation tasks,
demonstrating its superiority and marking the first successful application of
State Space Models (SSMs) in multi-modal perception tasks. Code is available at
https://github.com/zifuwan/Sigma.