OCDBMamba: A Robust and Efficient Road Pothole Detection Framework with Omnidirectional Context and Consensus-Based...

Reliable road pothole detection remains challenging in complex environments, where low contrast, shadows, water films, and strong background textures cause frequent false alarms, missed detections, and boundary instability. Thin rims and adjacent objects further complicate localization, and model robustness often deteriorates across regions and sensor domains. To address these issues, we propose OCDBMamba, a unified and efficient framework that integrates omnidirectional context modeling with consensus-driven boundary selection. Specifically, we introduce the following: (1) an Omnidirectional Channel-Selective Scanning (OCS) mechanism that aggregates long-range structural cues by performing multidirectional scans and channel similarity fusion with cross-directional consistency, capturing comprehensive spatial dependencies at near-linear complexity and (2) a Dual-Branch Consensus Thresholding (DBCT) module that enforces branch-level agreement with sparsity-regulated adaptive thresholds and boundary consistency constraints, effectively preserving true rims while suppressing reflections and redundant responses. Extensive experiments on normal, shadowed, wet, low-contrast, and texture-rich subsets yield 90.7% mAP50, 67.8% mAP50:95, a precision of 0.905, and a recall of 0.812 with 13.1 GFLOPs, outperforming YOLOv11n by 5.4% and 5.6%, respectively. The results demonstrate more stable localization and enhanced robustness under diverse conditions, validating the synergy of OCS and DBCT for practical road inspection and on-vehicle perception scenarios.