# LIDAR: Lightweight Adaptive Cue-Aware Fusion Vision Mamba for Multimodal Segmentation of Structural Cracks

arXiv: https://arxiv.org/abs/2507.22477 · HTML: https://mlsanity.com/paper/2507.22477/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in Point clouds, detection and remote sensing, one of 10 directions in State-space sequence models (S4, Mamba).
- Builds on 19 of its 51 references that are in the map.
- First posted on arXiv 30 Jul 2025.

## Placed in

- State-space sequence models (S4, Mamba) / [Point clouds, detection and remote sensing](https://mlsanity.com/ssm/point-clouds-detection-and-remote-sensing/)

## Builds on (most cited first, 19 of 19)

- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [On the Parameterization and Initialization of Diagonal State Space Models](https://mlsanity.com/paper/2206.11893/) (2022)
- [CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers](https://mlsanity.com/paper/2203.04838/) (2022)
- [A survey of loss functions for semantic segmentation](https://mlsanity.com/paper/2006.14822/) (2020)
- [Omnivore: A Single Model for Many Visual Modalities](https://mlsanity.com/paper/2201.08377/) (2022)
- [MambaOut: Do We Really Need Mamba for Vision?](https://mlsanity.com/paper/2405.07992/) (2024)
- [PlainMamba: Improving Non-Hierarchical Mamba in Visual Recognition](https://mlsanity.com/paper/2403.17695/) (2024)
- [How to Train Your HiPPO: State Space Models with Generalized Orthogonal Basis Projections](https://mlsanity.com/paper/2206.12037/) (2022)
- [Sigma: Siamese Mamba Network for Multi-Modal Semantic Segmentation](https://mlsanity.com/paper/2404.04256/) (2024)
- [Spatial-Mamba: Effective Visual State Space Models via Structure-aware State Fusion](https://mlsanity.com/paper/2410.15091/) (2024)
- [Efficient Multi-Task RGB-D Scene Analysis for Indoor Environments](https://mlsanity.com/paper/2207.04526/) (2022)
- [Occlusion-Aware Cost Constructor for Light Field Depth Estimation](https://mlsanity.com/paper/2203.01576/) (2022)
- [Context-Aware Interaction Network for RGB-T Semantic Segmentation](https://mlsanity.com/paper/2401.01624/) (2024)
- [AlignMamba: Enhancing Multimodal Mamba with Local and Global Cross-modal Alignment](https://mlsanity.com/paper/2412.00833/) (2024)
- [SCSegamba: Lightweight Structure-Aware Vision Mamba for Crack Segmentation in Structures](https://mlsanity.com/paper/2503.01113/) (2025)
- [JamMa: Ultra-lightweight Local Feature Matching with Joint Mamba](https://mlsanity.com/paper/2503.03437/) (2025)
- [Pixel Difference Convolutional Network for RGB-D Semantic Segmentation](https://mlsanity.com/paper/2302.11951/) (2023)
- [Designing a Hybrid Neural System to Learn Real-world Crack Segmentation from Fractal-based Simulation](https://mlsanity.com/paper/2309.09637/) (2023)

## Built on by (most cited first, 3 of 3)

- [CP-WSP: A Declarative CP-SAT Framework for Configurable Multi-Constraint Workforce Scheduling](https://mlsanity.com/paper/2607.05177/) (2026)
- [Compass: Degradation-Simulated Reciprocal Learning with Lightweight Needle RWKV for Multimodal Crack Segmentation under Missing Modalities](https://mlsanity.com/paper/2608.03559/) (2026)
- [CSGen: A Multi-Domain Curvilinear Structure Generation Model via Hierarchical Multimodal Diffusion](https://mlsanity.com/paper/2608.04655/) (2026)

## Abstract (arXiv)

Achieving pixel-level segmentation with low computational cost using multimodal data remains a key challenge in crack segmentation tasks. Existing methods lack the capability for adaptive perception and efficient interactive fusion of cross-modal features. To address these challenges, we propose a Lightweight Adaptive Cue-Aware Vision Mamba network (LIDAR), which efficiently perceives and integrates morphological and textural cues from different modalities under multimodal crack scenarios, generating clear pixel-level crack segmentation maps. Specifically, LIDAR is composed of a Lightweight Adaptive Cue-Aware Visual State Space module (LacaVSS) and a Lightweight Dual Domain Dynamic Collaborative Fusion module (LD3CF). LacaVSS adaptively models crack cues through the proposed mask-guided Efficient Dynamic Guided Scanning Strategy (EDG-SS), while LD3CF leverages an Adaptive Frequency Domain Perceptron (AFDP) and a dual-pooling fusion strategy to effectively capture spatial and frequency-domain cues across modalities. Moreover, we design a Lightweight Dynamically Modulated Multi-Kernel convolution (LDMK) to perceive complex morphological structures with minimal computational overhead, replacing most convolutional operations in LIDAR. Experiments on three datasets demonstrate that our method outperforms other state-of-the-art (SOTA) methods. On the light-field depth dataset, our method achieves 0.8204 in F1 and 0.8465 in mIoU with only 5.35M parameters. Code and datasets are available at https://github.com/Karl1109/LIDAR-Mamba.