# Focus Through Motion: RGB-Event Collaborative Token Sparsification for Efficient Object Detection

arXiv: https://arxiv.org/abs/2509.03872 · HTML: https://mlsanity.com/paper/2509.03872/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 53 of its 76 references that are in the map.
- First posted on arXiv 4 Sep 2025.

## Builds on (most cited first, 30 of 53)

- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [Vision Mamba: Efficient Visual Representation Learning with Bidirectional State Space Model](https://mlsanity.com/paper/2401.09417/) (2024)
- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [VMamba: Visual State Space Model](https://mlsanity.com/paper/2401.10166/) (2024)
- [DynamicViT: Efficient Vision Transformers with Dynamic Token Sparsification](https://mlsanity.com/paper/2106.02034/) (2021)
- [An Image is Worth 1/2 Tokens After Layer 2: Plug-and-Play Inference Acceleration for Large Vision-Language Models](https://mlsanity.com/paper/2403.06764/) (2024)
- [Transformer Interpretability Beyond Attention Visualization](https://mlsanity.com/paper/2012.09838/) (2020)
- [MaxViT: Multi-Axis Vision Transformer](https://mlsanity.com/paper/2204.01697/) (2022)
- [YOLOv11: An Overview of the Key Architectural Enhancements](https://mlsanity.com/paper/2410.17725/) (2024)
- [MambaIR: A Simple Baseline for Image Restoration with State-Space Model](https://mlsanity.com/paper/2402.15648/) (2024)
- [Visual Transformers: Token-based Image Representation and Processing for Computer Vision](https://mlsanity.com/paper/2006.03677/) (2020)
- [Soft Filter Pruning for Accelerating Deep Convolutional Neural Networks](https://mlsanity.com/paper/1808.06866/) (2018)
- [Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotion](https://mlsanity.com/paper/1812.08156/) (2018)
- [PyramidDrop: Accelerating Your Large Vision-Language Models via Pyramid Visual Redundancy Reduction](https://mlsanity.com/paper/2410.17247/) (2024)
- [DivPrune: Diversity-based Visual Token Pruning for Large Multimodal Models](https://mlsanity.com/paper/2503.02175/) (2025)
- [SPViT: Enabling Faster Vision Transformers via Soft Token Pruning](https://mlsanity.com/paper/2112.13890/) (2021)
- [Boosting Multimodal Large Language Models with Visual Tokens Withdrawal for Rapid Inference](https://mlsanity.com/paper/2405.05803/) (2024)
- [Fit and Prune: Fast and Training-free Visual Token Pruning for Multi-modal Large Language Models](https://mlsanity.com/paper/2409.10197/) (2024)
- [Sparse DETR: Efficient End-to-End Object Detection with Learnable Sparsity](https://mlsanity.com/paper/2111.14330/) (2021)
- [State Space Models for Event Cameras](https://mlsanity.com/paper/2402.15584/) (2024)
- [Sigma: Siamese Mamba Network for Multi-Modal Semantic Segmentation](https://mlsanity.com/paper/2404.04256/) (2024)
- [Mamba-360: Survey of State Space Models as Transformer Alternative for Long Sequence Modelling: Methods, Applications, and Challenges](https://mlsanity.com/paper/2404.16112/) (2024)
- [SparseViT: Revisiting Activation Sparsity for Efficient High-Resolution Vision Transformer](https://mlsanity.com/paper/2303.17605/) (2023)
- [Revisiting Token Pruning for Object Detection and Instance Segmentation](https://mlsanity.com/paper/2306.07050/) (2023)
- [PACT: Pruning and Clustering-Based Token Reduction for Faster Visual Language Models](https://mlsanity.com/paper/2504.08966/) (2025)
- [Wave-Mamba: Wavelet State Space Model for Ultra-High-Definition Low-Light Image Enhancement](https://mlsanity.com/paper/2408.01276/) (2024)
- [Pixel to Gaussian: Ultra-Fast Continuous Super-Resolution with 2D Gaussian Modeling](https://mlsanity.com/paper/2503.06617/) (2025)
- [Lightweight Adaptive Feature De-drifting for Compressed Image Classification](https://mlsanity.com/paper/2401.01724/) (2024)

## Built on by (most cited first, 1 of 1)

- [SkyEV: RGB-Event UAV detection and tracking dataset and baseline](https://mlsanity.com/paper/2607.18747/) (2026)

## Abstract (arXiv)

Existing RGB-Event detection methods process the low-information regions of both modalities (background in images and non-event regions in event data) uniformly during feature extraction and fusion, resulting in high computational costs and suboptimal performance. To mitigate the computational redundancy during feature extraction, researchers have respectively proposed token sparsification methods for the image and event modalities. However, these methods employ a fixed number or threshold for token selection, hindering the retention of informative tokens for samples with varying complexity. To achieve a better balance between accuracy and efficiency, we propose FocusMamba, which performs adaptive collaborative sparsification of multimodal features and efficiently integrates complementary information. Specifically, an Event-Guided Multimodal Sparsification (EGMS) strategy is designed to identify and adaptively discard low-information regions within each modality by leveraging scene content changes perceived by the event camera. Based on the sparsification results, a Cross-Modality Focus Fusion (CMFF) module is proposed to effectively capture and integrate complementary features from both modalities. Experiments on the DSEC-Det and PKU-DAVIS-SOD datasets demonstrate that the proposed method achieves superior performance in both accuracy and efficiency compared to existing methods. The code will be available at https://github.com/Zizzzzzzz/FocusMamba.