FUSE: Label-Free Image-Event Joint Monocular Depth Estimation via Frequency-Decoupled Alignment and Degradation-Robust Fusion

Abstract

Image-event joint depth estimation methods leverage complementary modalities for robust perception, yet face challenges in generalizability stemming from two factors: 1) limited annotated image-event-depth datasets causing insufficient cross-modal supervision, and 2) inherent frequency mismatches between static images and dynamic event streams with distinct spatiotemporal patterns, leading to ineffective feature fusion. To address this dual challenge, we propose Frequency-decoupled Unified Self-supervised Encoder (FUSE) with two synergistic components: The Parameter-efficient Self-supervised Transfer (PST) leverages image foundation models for cross-modal knowledge transfer, effectively mitigating data scarcity by enabling joint encoding without depth ground truth. Complementing this, the Frequency-Decoupled Fusion module (FreDFuse) resolves modality-specific frequency mismatches by decoupling features into high- and low-frequency bands and then performing a guided cross-attention fusion, where the modality dominant in each band steers the integration. This combined approach enables FUSE to construct a universal image-event encoder that only requires lightweight decoder adaptation for target datasets. Extensive experiments demonstrate state-of-the-art performance with 14% and 24.9% improvements in Abs.Rel on MVSEC and DENSE datasets. The framework exhibits remarkable robustness and generalization in challenging scenarios, including extreme lighting and motion blur, significantly advancing its real-world deployment capabilities. The source code for our method is publicly available at: https://github.com/sunpihai-up/FUSE.