# Event-Frame Fusion for Inter-Frame Segmentation via Event-Guided Motion

arXiv: https://arxiv.org/abs/2609.22500 · HTML: https://mlsanity.com/paper/2609.22500/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 33 of its 43 references that are in the map.
- First posted on arXiv 18 Sep 2026.

## Builds on (most cited first, 30 of 33)

- [Xception: Deep Learning with Depthwise Separable Convolutions](https://mlsanity.com/paper/1610.02357/) (2016)
- [V-Net: Fully Convolutional Neural Networks for Volumetric Medical Image Segmentation](https://mlsanity.com/paper/1606.04797/) (2016)
- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [Surrogate Gradient Learning in Spiking Neural Networks](https://mlsanity.com/paper/1901.09948/) (2019)
- [Deep Residual Learning in Spiking Neural Networks](https://mlsanity.com/paper/2102.04159/) (2021)
- [Direct Training for Spiking Neural Networks: Faster, Larger, Better](https://mlsanity.com/paper/1809.05793/) (2018)
- [EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Cameras](https://mlsanity.com/paper/1802.06898/) (2018)
- [Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars](https://mlsanity.com/paper/1804.01310/) (2018)
- [Hierarchical Multi-Scale Attention for Semantic Segmentation](https://mlsanity.com/paper/2005.10821/) (2020)
- [Video to Events: Recycling Video Datasets for Event Cameras](https://mlsanity.com/paper/1912.03095/) (2019)
- [E-RAFT: Dense Optical Flow from Event Cameras](https://mlsanity.com/paper/2108.10552/) (2021)
- [Back to Event Basics: Self-Supervised Learning of Image Reconstruction for Event Cameras via Photometric Constancy](https://mlsanity.com/paper/2009.08283/) (2020)
- [Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networks](https://mlsanity.com/paper/2106.01862/) (2021)
- [Event-based High Dynamic Range Image and Very High Frame Rate Video Generation using Conditional Generative Adversarial Networks](https://mlsanity.com/paper/1811.08230/) (2018)
- [EV-SegNet: Semantic Segmentation for Event-based Cameras](https://mlsanity.com/paper/1811.12039/) (2018)
- [ESS: Learning Event-based Semantic Segmentation from Still Images](https://mlsanity.com/paper/2203.10016/) (2022)
- [Accel: A Corrective Fusion Network for Efficient Semantic Segmentation on Video](https://mlsanity.com/paper/1807.06667/) (2018)
- [Low-Latency Video Semantic Segmentation](https://mlsanity.com/paper/1804.00389/) (2018)
- [Beyond Classification: Directly Training Spiking Neural Networks for Semantic Segmentation](https://mlsanity.com/paper/2110.07742/) (2021)
- [Dynamic Video Segmentation Network](https://mlsanity.com/paper/1804.00931/) (2018)
- [EvDistill: Asynchronous Events to End-task Learning via Bidirectional Reconstruction-guided Cross-modal Knowledge Distillation](https://mlsanity.com/paper/2111.12341/) (2021)
- [Dense Continuous-Time Optical Flow from Events and Frames](https://mlsanity.com/paper/2203.13674/) (2022)
- [Taming Contrast Maximization for Learning Sequential, Low-latency, Event-based Optical Flow](https://mlsanity.com/paper/2303.05214/) (2023)
- [An Analytical Estimation of Spiking Neural Networks Energy Efficiency](https://mlsanity.com/paper/2210.13107/) (2022)
- [Optical flow estimation from event-based cameras and spiking neural networks](https://mlsanity.com/paper/2302.06492/) (2023)
- [Dual Transfer Learning for Event-based End-task Prediction via Pluggable Event to Image Translation](https://mlsanity.com/paper/2109.01801/) (2021)
- [TMA: Temporal Motion Aggregation for Event-based Optical Flow](https://mlsanity.com/paper/2303.11629/) (2023)
- [Lightweight Event-based Optical Flow Estimation via Iterative Deblurring](https://mlsanity.com/paper/2211.13726/) (2022)
- [A Spiking Neural Network for Image Segmentation](https://mlsanity.com/paper/2106.08921/) (2021)
- [HALSIE: Hybrid Approach to Learning Segmentation by Simultaneously Exploiting Image and Event Modalities](https://mlsanity.com/paper/2211.10754/) (2022)

## Abstract (arXiv)

Autonomous navigation requires precise and efficient semantic segmentation, yet existing frame-based approaches remain limited by motion blur, glare, latency, and the low temporal resolution (20-30 FPS) of conventional cameras, which leads to information loss between frames. Event cameras have emerged as an alternative sensing modality, capturing intensity changes asynchronously with high temporal resolution, high dynamic range, and sparse outputs. However, event-based algorithms still fall short of frame-based ones in accuracy, as most segmentation methods are designed for dense frame data. To overcome these limitations, we propose a hybrid vision architecture that combines conventional frame-based and event-based cameras. The system integrates two complementary components: (1) a compact Spiking Neural Network (SNN) with 42k parameters for motion estimation, and (2) a lightweight event-driven SNN with 0.84M parameters for frame-based semantic segmentation, which interpolates motion between frames to refine segmentation results. By predicting inter-frame segmentations, the framework achieves segmentation rates of up to 500 Hz with an energy consumption below 1.87 mJ per inference, while maintaining real-time GPU execution at frequencies up to 200 Hz. Additionally, our approach compensates for information loss in frames affected by blur or overexposure, enabling more robust perception in challenging conditions.