Abstract
Integrating frame-based RGB cameras with event streams offers a promising solution for robust object detection under challenging dynamic conditions. However, the inherent heterogeneity and data redundancy of these modalities often lead to prohibitive computational overhead or suboptimal feature fusion. In this paper, we propose Hyper-FEOD, a high-performance and efficient detection framework, which synergistically optimizes multi-modal interaction through two core components. First, we introduce Sparse Hypergraph-enhanced Cross-Modal Fusion (S-HCF), which leverages the inherent sparsity of event streams to construct an event-guided activity map. By performing high-order hypergraph modeling exclusively on selected motion-critical sparse tokens, S-HCF captures complex non-local dependencies between RGB and event data while overcoming the traditional complexity bottlenecks of hypergraph computation. Second, we design a Fine-Grained Mixture of Experts (FG-MoE) Enhancement module to address the diverse semantic requirements of different image regions. This module employs specialized hypergraph experts tailored for object boundaries, internal textures, and backgrounds, utilizing a pixel-level spatial gating mechanism to adaptively route and enhance features. Combined with a load-balancing loss and zero-initialization strategy, FG-MoE ensures stable training and precise feature refinement without disrupting the pre-trained backbone's distribution. Experimental results on mainstream RGB-Event benchmarks demonstrate that Hyper-FEOD achieves a superior accuracy-efficiency trade-off, outperforming state-of-the-art methods while maintaining a lightweight footprint suitable for real-time edge deployment.
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URL
https://arxiv.org/abs/2604.11140
