# Sigma: Siamese Mamba Network for Multi-Modal Semantic Segmentation

arXiv: https://arxiv.org/abs/2404.04256 · HTML: https://mlsanity.com/paper/2404.04256/

## Key facts

- Cited by 71 papers in the map (data through 14 Oct 2026).
- Placed in Vision Mamba backbones, one of 10 directions in State-space sequence models (S4, Mamba).
- Builds on 49 of its 77 references that are in the map.
- First posted on arXiv 5 Apr 2024.

## Placed in

- State-space sequence models (S4, Mamba) / [Vision Mamba backbones](https://mlsanity.com/ssm/vision-mamba-backbones/)

## Builds on (most cited first, 30 of 49)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Efficiently Modeling Long Sequences with Structured State Spaces](https://mlsanity.com/paper/2111.00396/) (2021)
- [Unified Perceptual Parsing for Scene Understanding](https://mlsanity.com/paper/1807.10221/) (2018)
- [Vision Mamba: Efficient Visual Representation Learning with Bidirectional State Space Model](https://mlsanity.com/paper/2401.09417/) (2024)
- [VMamba: Visual State Space Model](https://mlsanity.com/paper/2401.10166/) (2024)
- [CrossViT: Cross-Attention Multi-Scale Vision Transformer for Image Classification](https://mlsanity.com/paper/2103.14899/) (2021)
- [Simplified State Space Layers for Sequence Modeling](https://mlsanity.com/paper/2208.04933/) (2022)
- [BiSeNet: Bilateral Segmentation Network for Real-time Semantic Segmentation](https://mlsanity.com/paper/1808.00897/) (2018)
- [Combining Recurrent, Convolutional, and Continuous-time Models with Linear State-Space Layers](https://mlsanity.com/paper/2110.13985/) (2021)
- [U-Mamba: Enhancing Long-range Dependency for Biomedical Image Segmentation](https://mlsanity.com/paper/2401.04722/) (2024)
- [MambaIR: A Simple Baseline for Image Restoration with State-Space Model](https://mlsanity.com/paper/2402.15648/) (2024)
- [Target-aware Dual Adversarial Learning and a Multi-scenario Multi-Modality Benchmark to Fuse Infrared and Visible for Object Detection](https://mlsanity.com/paper/2203.16220/) (2022)
- [Deep Multi-modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges](https://mlsanity.com/paper/1902.07830/) (2019)
- [MultiMAE: Multi-modal Multi-task Masked Autoencoders](https://mlsanity.com/paper/2204.01678/) (2022)
- [VM-UNet: Vision Mamba UNet for Medical Image Segmentation](https://mlsanity.com/paper/2402.02491/) (2024)
- [SegMamba: Long-range Sequential Modeling Mamba For 3D Medical Image Segmentation](https://mlsanity.com/paper/2401.13560/) (2024)
- [CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers](https://mlsanity.com/paper/2203.04838/) (2022)
- [Omnivore: A Single Model for Many Visual Modalities](https://mlsanity.com/paper/2201.08377/) (2022)
- [Multimodal Token Fusion for Vision Transformers](https://mlsanity.com/paper/2204.08721/) (2022)
- [Multi-interactive Feature Learning and a Full-time Multi-modality Benchmark for Image Fusion and Segmentation](https://mlsanity.com/paper/2308.02097/) (2023)
- [Bi-directional Cross-Modality Feature Propagation with Separation-and-Aggregation Gate for RGB-D Semantic Segmentation](https://mlsanity.com/paper/2007.09183/) (2020)
- [Deep Multimodal Fusion by Channel Exchanging](https://mlsanity.com/paper/2011.05005/) (2020)
- [Delivering Arbitrary-Modal Semantic Segmentation](https://mlsanity.com/paper/2303.01480/) (2023)
- [Learning a Discriminative Feature Network for Semantic Segmentation](https://mlsanity.com/paper/1804.09337/) (2018)
- [Swin3D: A Pretrained Transformer Backbone for 3D Indoor Scene Understanding](https://mlsanity.com/paper/2304.06906/) (2023)

## Built on by (most cited first, 30 of 71)

- [State Space Model for New-Generation Network Alternative to Transformers: A Survey](https://mlsanity.com/paper/2404.09516/) (2024)
- [Exploiting Multimodal Spatial-temporal Patterns for Video Object Tracking](https://mlsanity.com/paper/2412.15691/) (2024)
- [Vision Mamba: A Comprehensive Survey and Taxonomy](https://mlsanity.com/paper/2405.04404/) (2024)
- [A Survey on Visual Mamba](https://mlsanity.com/paper/2404.15956/) (2024)
- [Visual Mamba: A Survey and New Outlooks](https://mlsanity.com/paper/2404.18861/) (2024)
- [A Survey of Mamba](https://mlsanity.com/paper/2408.01129/) (2024)
- [Hybrid Mamba for Few-Shot Segmentation](https://mlsanity.com/paper/2409.19613/) (2024)
- [MambaPro: Multi-Modal Object Re-Identification with Mamba Aggregation and Synergistic Prompt](https://mlsanity.com/paper/2412.10707/) (2024)
- [Mamba in Vision: A Comprehensive Survey of Techniques and Applications](https://mlsanity.com/paper/2410.03105/) (2024)
- [MambaCSR: Dual-Interleaved Scanning for Compressed Image Super-Resolution With SSMs](https://mlsanity.com/paper/2408.11758/) (2024)
- [A Mamba-based Siamese Network for Remote Sensing Change Detection](https://mlsanity.com/paper/2407.06839/) (2024)
- [MambaDS: Near-Surface Meteorological Field Downscaling with Topography Constrained Selective State Space Modeling](https://mlsanity.com/paper/2408.10854/) (2024)
- [Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Survey](https://mlsanity.com/paper/2410.19872/) (2024)
- [STNMamba: Mamba-based Spatial-Temporal Normality Learning for Video Anomaly Detection](https://mlsanity.com/paper/2412.20084/) (2024)
- [OneBEV: Using One Panoramic Image for Bird's-Eye-View Semantic Mapping](https://mlsanity.com/paper/2409.13912/) (2024)
- [RemoteDet-Mamba: A Hybrid Mamba-CNN Network for Multi-modal Object Detection in Remote Sensing Images](https://mlsanity.com/paper/2410.13532/) (2024)
- [F-ViTA: Foundation Model Guided Visible to Thermal Translation](https://mlsanity.com/paper/2504.02801/) (2025)
- [UIS-Mamba: Exploring Mamba for Underwater Instance Segmentation via Dynamic Tree Scan and Hidden State Weaken](https://mlsanity.com/paper/2508.00421/) (2025)
- [XFMamba: Cross-Fusion Mamba for Multi-View Medical Image Classification](https://mlsanity.com/paper/2503.02619/) (2025)
- [Multispectral State-Space Feature Fusion: Bridging Shared and Cross-Parametric Interactions for Object Detection](https://mlsanity.com/paper/2507.14643/) (2025)
- [Referring Change Detection in Remote Sensing Imagery](https://mlsanity.com/paper/2512.11719/) (2025)
- [SpecMamba: Accelerating Mamba Inference on FPGA with Speculative Decoding](https://mlsanity.com/paper/2509.19873/) (2025)
- [Spatial-Frequency Enhanced Mamba for Multi-Modal Image Fusion](https://mlsanity.com/paper/2511.06593/) (2025)
- [Revisiting Cross-Modal Knowledge Distillation: A Disentanglement Approach for RGBD Semantic Segmentation](https://mlsanity.com/paper/2505.24361/) (2025)
- [MoMa: Modulating Mamba for Adapting Image Foundation Models to Video Recognition](https://mlsanity.com/paper/2506.23283/) (2025)
- [Alignment-free Raw Video Demoireing](https://mlsanity.com/paper/2408.10679/) (2024)
- [GraspMamba: A Mamba-based Language-driven Grasp Detection Framework with Hierarchical Feature Learning](https://mlsanity.com/paper/2409.14403/) (2024)
- [FTMoMamba: Motion Generation with Frequency and Text State Space Models](https://mlsanity.com/paper/2411.17532/) (2024)
- [Cross-Modal Interactive Perception Network with Mamba for Lung Tumor Segmentation in PET-CT Images](https://mlsanity.com/paper/2503.17261/) (2025)
- [Beyond Appearance: Geometric Cues for Robust Video Instance Segmentation](https://mlsanity.com/paper/2507.05948/) (2025)

## Abstract (arXiv)

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 prediction. In this work, we introduce Sigma, a Siamese Mamba network for multi-modal semantic segmentation utilizing the advanced 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 with linear complexity. By employing a Siamese encoder and innovating a Mamba-based 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 proposed method is rigorously evaluated on both RGB-Thermal and RGB-Depth semantic 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.