The invention discloses a
coal mine unmanned vehicle-oriented multi-mode
perception data fusion enhancement method and
system, and relates to the technical field of
image enhancement, and the method comprises the steps: carrying out the
image quality attenuation prediction, generating a prediction visible light
image quality attenuation index sequence and a prediction
infrared image quality attenuation index sequence, and carrying out the prediction of the
infrared image quality attenuation index sequence; formulating an adaptive visible light
image enhancement strategy and an adaptive
infrared image enhancement strategy; performing image enhancement on the vehicle
sensing data to generate a visible light enhanced image
stream and an infrared enhanced image
stream; and inputting the visible light enhanced image
stream and the infrared enhanced image stream into a cross-
modal feature fusion plug-in for cross-
modal feature alignment, generating a multi-
modal fusion enhanced
perception result, and transmitting the multi-modal fusion enhanced
perception result to a downstream automatic driving perception decision center in real time. The technical problems of insufficient enhancement strategy adaptability and poor cross-modal fusion effect caused by micro-environment dynamic change of existing underground
coal mine multi-modal
sensing data are solved.