Visible light image and infrared image fusion method and device, electronic equipment and medium

Abstract

The invention discloses a visible light image and infrared image fusion method and device, electronic equipment and a medium, and relates to the technical field of unmanned aerial vehicles. The fusion method comprises the following steps: acquiring an original visible light image and an original infrared image; respectively filtering the original visible light image and the original infrared image to obtain a filtered visible light image and a filtered infrared image; determining a matching position of the original visible light image and the original infrared image according to a maximum information metric value between a first sub-image corresponding to the filtered visible light image and a second sub-image corresponding to the filtered infrared image; and taking the matching position as a reference, respectively intercepting an overlapping region from the original visible light image and the original infrared image to obtain a visible light image to be fused and an infrared image to be fused, and carrying out fusion calculation on the visible light image to be fused and the infrared image to be fused to obtain a fused image. By adopting the fusion method provided by the invention, the visible light image and the infrared image can be automatically and quickly fused, and the registration precision is high.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a visible light image and infrared image fusion method, device, electronic equipment and medium. Background Art

[0002] In UAV systems, visible light imaging payloads and infrared imaging payloads are two common payloads, which are widely used in target detection and recognition and image matching and positioning in various scenarios. The fusion of the two images can obtain richer content information and higher reliability than a single image, which helps to improve the accuracy and precision of subsequent image analysis and processing.

[0003] At present, the relevant technologies mainly match visible light images with infrared images based on grayscale similarity registration or geometric feature consistency registration, that is, spatially align an image taken by a visible light sensor with another image taken by an infrared sensor. Due to the different detection and imaging principles of visible light sensors and infrared sensors, completely different physical properties of the objects being measured are obtained, which is specifically manifested in the huge difference in image brightness values ​​(or grayscale values), which cannot be registered through grayscale similarity. However, image segmentation and geometric feature extraction algorithms require human participation, making geometric feature consistency registration impossible to achieve autonomously. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the related art, it is desirable to provide a visible light image and infrared image fusion method, device, electronic device and medium, which can automatically and quickly fuse the visible light image and the infrared image with high registration accuracy.

[0005] In a first aspect, the present application provides a visible light image and infrared image fusion method, the fusion method comprising:

[0006] Acquire original visible light images and original infrared images;

[0007] Performing filtering processing on the original visible light image and the original infrared image respectively to obtain a filtered visible light image and a filtered infrared image;

[0008] Determining a matching position of the original visible light image and the original infrared image according to a maximum information metric value between a first sub-image corresponding to the filtered visible light image and a second sub-image corresponding to the filtered infrared image;

[0009] Based on the matching position, overlapping areas are respectively intercepted from the original visible light image and the original infrared image to obtain the visible light image to be fused and the infrared image to be fused, and fusion calculation is performed on the visible light image to be fused and the infrared image to be fused to obtain a fused image.

[0010] Optionally, in some embodiments of the present application, determining the matching position of the original visible light image and the original infrared image according to the maximum information metric value between the first sub-image corresponding to the filtered visible light image and the second sub-image corresponding to the filtered infrared image includes:

[0011] Taking the center of the filtered visible light image as a reference, intercepting the first sub-image of a preset size from the filtered visible light image, and calculating the information entropy of the first sub-image;

[0012] sequentially intercepting the second sub-image having the same size as the first sub-image in the filtered infrared image according to a preset sliding direction, and calculating the information entropy of the second sub-image;

[0013] Based on the information entropy of the first sub-image and the information entropy of the second sub-image, a maximum information metric value between the first sub-image and the second sub-image is calculated, and a cutout position of the second sub-image corresponding to the maximum information metric value is used as the matching position.

[0014] Optionally, in some embodiments of the present application, the length of the preset size is half of the length of the filtered visible light image, and the width of the preset size is half of the width of the filtered visible light image.

[0015] Optionally, in some embodiments of the present application, the visible light image to be fused and the infrared image to be fused are fused by the following formula to obtain a fused image:

[0016]

[0017] Wherein, x represents the pixel value of each pixel in the visible light image to be fused, y represents the pixel value of each pixel in the infrared image to be fused, and z represents the pixel value of each pixel in the fused image.

[0018] Optionally, in some embodiments of the present application, filtering the original visible light image and the original infrared image respectively to obtain a filtered visible light image and a filtered infrared image includes:

[0019] The weighted average values ​​of the neighborhoods corresponding to each pixel in the original image are calculated in sequence, and the absolute value is taken as the grayscale value of the pixel in the filtered image after subtracting the grayscale value of the pixel in the original image from the weighted average value of the neighborhood; wherein, if the original image is the original visible light image, the filtered image is the filtered visible light image, and if the original image is the original infrared image, the filtered image is the filtered infrared image.

[0020] In a second aspect, the present application provides a visible light image and infrared image fusion device, the fusion device comprising:

[0021] An acquisition module configured to acquire an original visible light image and an original infrared image;

[0022] A filtering module, configured to perform filtering processing on the original visible light image and the original infrared image respectively to obtain a filtered visible light image and a filtered infrared image;

[0023] a determination module configured to determine a matching position of the original visible light image and the original infrared image according to a maximum information metric value between a first sub-image corresponding to the filtered visible light image and a second sub-image corresponding to the filtered infrared image;

[0024] The fusion module is configured to take the matching position as a reference, respectively intercept overlapping areas from the original visible light image and the original infrared image to obtain the visible light image to be fused and the infrared image to be fused, and perform fusion calculation on the visible light image to be fused and the infrared image to be fused to obtain a fused image.

[0025] Optionally, in some embodiments of the present application, the determining module is specifically configured to intercept the first sub-image of a preset size from the filtered visible light image based on the center of the filtered visible light image, and calculate the information entropy of the first sub-image;

[0026] sequentially intercepting the second sub-image having the same size as the first sub-image in the filtered infrared image according to a preset sliding direction, and calculating the information entropy of the second sub-image;

[0027] Based on the information entropy of the first sub-image and the information entropy of the second sub-image, a maximum information metric value between the first sub-image and the second sub-image is calculated, and a cutout position of the second sub-image corresponding to the maximum information metric value is used as the matching position.

[0028] Optionally, in some embodiments of the present application, the length of the preset size is half of the length of the filtered visible light image, and the width of the preset size is half of the width of the filtered visible light image.

[0029] In a third aspect, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the instruction, the program, the code set or the instruction set is loaded and executed by the processor to implement the steps of any one of the fusion methods described in the first aspect.

[0030] In a fourth aspect, the present application provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the vehicle suspension parameter determination method described in any one of the first aspects.

[0031] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0032] The embodiments of the present application provide a visible light image and infrared image fusion method, device, electronic device and medium. The original visible light image and the original infrared image are filtered respectively to obtain a filtered visible light image and a filtered infrared image. Then, the matching position of the original visible light image and the original infrared image is determined directly according to the maximum information metric value between the first sub-image corresponding to the filtered visible light image and the second sub-image corresponding to the filtered infrared image. Since the information metric value varies with the size of the registration area of ​​the two images, the larger the matching area, the greater the information metric of the overlap of the two images. Therefore, the registration accuracy is improved. Then, based on the matching position, the overlapping area is automatically cut out from the original visible light image and the original infrared image to obtain the visible light image to be fused and the infrared image to be fused. The visible light image to be fused and the infrared image to be fused are fused and calculated, so that the fused image can be quickly obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A schematic diagram of a process for fusing a visible light image and an infrared image provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of an image filtering process provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of a matching and positioning process of a filtered visible light image and a filtered infrared image provided in an embodiment of the present application;

[0037] Figure 4 A structural block diagram of a visible light image and infrared image fusion device provided in an embodiment of the present application;

[0038] Figure 5 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. Figures 1 to 5 The visible light image and infrared image fusion method, device, electronic device and medium provided in the embodiments of the present application are described in detail.

[0042] Please refer to Figure 1 , which is a flow chart of a visible light image and infrared image fusion method provided in an embodiment of the present application, the method specifically comprises the following steps:

[0043] S101, acquiring an original visible light image and an original infrared image.

[0044] Exemplarily, in the embodiment of the present application, the original visible light image may be an image taken by a visible light sensor on the drone, and the original infrared image may be an image taken by an infrared sensor on the drone.

[0045] S102 , filtering the original visible light image and the original infrared image respectively to obtain a filtered visible light image and a filtered infrared image.

[0046] Exemplarily, the embodiment of the present application calculates the weighted average of the neighborhood corresponding to each pixel in the original image in turn, and takes the absolute value after subtracting the grayscale value of the pixel in the original image from the weighted average of the neighborhood as the grayscale value of the pixel in the filtered image. Wherein, if the original image is an original visible light image, the filtered image is a filtered visible light image, and if the original image is an original infrared image, the filtered image is a filtered infrared image. For example, Table 1 shows the weighted weight values ​​of a 5*5 neighborhood, and when the original image is less than 5 pixels close to the four boundaries, the boundaries are used as the limit, and a 5*5 neighborhood is taken inward for calculation, so that Figure 2 As shown in the figure, the local smoothing process through mean filtering can filter out the random interference noise in the image, thereby retaining the low-frequency stable information. Figure 2 The left picture is a schematic diagram before image filtering, and Figure 2The right picture is a schematic diagram after image filtering.

[0047] Table 1 Weighted values ​​of 5*5 neighborhood

[0048]

[0049] S103, determining a matching position of the original visible light image and the original infrared image according to a maximum information metric value between the first sub-image corresponding to the filtered visible light image and the second sub-image corresponding to the filtered infrared image.

[0050] For example, Figure 3 As shown, the embodiment of the present application can first take the center of the filtered visible light image as a reference, cut out a first sub-image of a preset size from the filtered visible light image, and calculate the information entropy of the first sub-image. For example, if the length of the filtered visible light image is M and the width of the filtered visible light image is N, then the length in the preset size can be half of the length of the filtered visible light image, and the width in the preset size can be half of the width of the filtered visible light image, that is, the length in the preset size = 1 / 2*M, and the width in the preset size = 1 / 2*N. For another example, the information entropy H(S) of the first sub-image can be calculated by formula (1), that is:

[0051]

[0052] In formula (1), s represents the gray value of the pixel in the first sub-image, ranging from 0 to 255; p(s) represents the percentage of the number of pixels with gray value s to the total number of pixels n in the first sub-image.

[0053] Then, in the filtered infrared image, a second sub-image with the same size as the first sub-image is sequentially intercepted in a preset sliding direction, and the information entropy of the second sub-image is calculated. For example, the preset sliding direction is to take the (0,0) point of the filtered infrared image as the starting position, and sequentially intercept the second sub-image row by row and column by column. The calculation principle of the information entropy H(T) of the second sub-image is shown in formula (1). Further, based on the information entropy H(S) of the first sub-image and the information entropy H(T) of the second sub-image, the maximum information metric value between the first sub-image and the second sub-image is calculated, and the interception position of the second sub-image corresponding to the maximum information metric value is used as the matching position, for example, the information metric value I(S,T) = H(S) + H(T) - H(S,T), and the maximum value is found from multiple information metric values ​​I(S,T), wherein the calculation principle of H(S,T) is shown in formula (1). It should also be noted that in some embodiments of the present application, the center of the filtered infrared image may be used as a reference to first capture a second sub-image of a preset size from the filtered infrared image, and then first sub-images of the same size as the second sub-image may be captured in sequence in the filtered visible light image according to a preset sliding direction. The principle is the same and will not be elaborated on herein.

[0054] S104, taking the matching position as a reference, respectively intercepting overlapping areas from the original visible light image and the original infrared image to obtain the visible light image to be fused and the infrared image to be fused, and performing fusion calculation on the visible light image to be fused and the infrared image to be fused to obtain a fused image.

[0055] For example, in the embodiment of the present application, the area of ​​the overlapping region may be larger than the area of ​​the sub-image, thereby being able to cover more information. Further, in the embodiment of the present application, the fused image c can be obtained by performing a fusion calculation on the visible light image a to be fused and the infrared image b to be fused by formula (2), that is:

[0056]

[0057] In formula (2), x represents the pixel value of each pixel in the visible light image a to be fused, y represents the pixel value of each pixel in the infrared image b to be fused, and z represents the pixel value of each pixel in the fused image c.

[0058] The visible light image and infrared image fusion method provided in the embodiment of the present application obtains a filtered visible light image and a filtered infrared image by filtering the original visible light image and the original infrared image respectively, and then determines the matching position of the original visible light image and the original infrared image directly according to the maximum information metric value between the first sub-image corresponding to the filtered visible light image and the second sub-image corresponding to the filtered infrared image. Since the information metric value varies with the size of the registration area of ​​the two images, the larger the matching area, the greater the information metric of the overlap of the two images, thereby improving the registration accuracy. Then, based on the matching position, the overlapping area is automatically cut out from the original visible light image and the original infrared image to obtain the visible light image to be fused and the infrared image to be fused, and the visible light image to be fused and the infrared image to be fused are fused and calculated, so that the fused image can be quickly obtained.

[0059] Based on the above embodiments, the present application provides a visible light image and infrared image fusion device. The visible light image and infrared image fusion device 100 can be applied to Figures 1 to 3 In the method for fusing visible light image and infrared image of the corresponding embodiment. Please refer to Figure 4 The visible light image and infrared image fusion device 100 comprises:

[0060] An acquisition module 101 is configured to acquire an original visible light image and an original infrared image;

[0061] A filtering module 102 is configured to filter the original visible light image and the original infrared image to obtain a filtered visible light image and a filtered infrared image;

[0062] A determination module 103, configured to determine a matching position of the original visible light image and the original infrared image according to a maximum information metric value between the first sub-image corresponding to the filtered visible light image and the second sub-image corresponding to the filtered infrared image;

[0063] The fusion module 104 is configured to intercept overlapping areas from the original visible light image and the original infrared image respectively based on the matching position to obtain the visible light image to be fused and the infrared image to be fused, and perform fusion calculation on the visible light image to be fused and the infrared image to be fused to obtain a fused image.

[0064] Optionally, in some embodiments of the present application, the determination module 103 is specifically configured to intercept a first sub-image of a preset size from the filtered visible light image based on the center of the filtered visible light image, and calculate the information entropy of the first sub-image;

[0065] Sequentially intercepting second sub-images having the same size as the first sub-image in the filtered infrared image according to a preset sliding direction, and calculating the information entropy of the second sub-image;

[0066] Based on the information entropy of the first sub-image and the information entropy of the second sub-image, a maximum information metric value between the first sub-image and the second sub-image is calculated, and a cutout position of the second sub-image corresponding to the maximum information metric value is taken as a matching position.

[0067] Optionally, in some embodiments of the present application, the length in the preset size is half of the length of the filtered visible light image, and the width in the preset size is half of the width of the filtered visible light image.

[0068] Optionally, in some embodiments of the present application, the fusion module 104 is specifically used to perform fusion calculation on the visible light image to be fused and the infrared image to be fused by the following formula to obtain a fused image:

[0069]

[0070] Wherein, x represents the pixel value of each pixel in the visible light image to be fused, y represents the pixel value of each pixel in the infrared image to be fused, and z represents the pixel value of each pixel in the fused image.

[0071] Optionally, in some embodiments of the present application, the filtering module 102 is specifically used to calculate the weighted average value of the neighborhood corresponding to each pixel in the original image in turn, and take the absolute value after subtracting the grayscale value of the pixel in the original image from the weighted average value of the neighborhood as the grayscale value of the pixel in the filtered image; wherein, if the original image is an original visible light image, the filtered image is a filtered visible light image, and if the original image is an original infrared image, the filtered image is a filtered infrared image.

[0072] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0073] The visible light image and infrared image fusion device provided in the embodiment of the present application obtains a filtered visible light image and a filtered infrared image by filtering the original visible light image and the original infrared image respectively, and then determines the matching position of the original visible light image and the original infrared image directly according to the maximum information metric value between the first sub-image corresponding to the filtered visible light image and the second sub-image corresponding to the filtered infrared image. Since the information metric value varies with the size of the registration area of ​​the two images, the larger the matching area, the greater the information metric of the overlap of the two images, thereby improving the registration accuracy. Then, based on the matching position, the overlapping area is automatically cut out from the original visible light image and the original infrared image to obtain the visible light image to be fused and the infrared image to be fused, and the visible light image to be fused and the infrared image to be fused are fused and calculated, so that the fused image can be quickly obtained.

[0074] Based on the above embodiments, the present application provides an electronic device. Figure 5 The electronic device 200 may include a processor 201 and a memory 202. The memory 202 stores at least one instruction, at least one program, code set or instruction set, which is loaded and executed by the processor 201 to implement Figures 1 to 3 The steps of the fusion method in the corresponding embodiment.

[0075] As another aspect, the present application provides a computer-readable storage medium for storing program code, the program code for executing the aforementioned Figures 1 to 3 Any implementation of the fusion method in the corresponding embodiment.

[0076] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0077] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms. The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0078] In addition, each functional module in each embodiment of the present application may be integrated into a processing unit, or each module may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.

[0079] Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the fusion method of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0080] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A visible light image and infrared image fusion method, characterized in that: The fusion method comprises: Acquire original visible light images and original infrared images; Performing filtering processing on the original visible light image and the original infrared image respectively to obtain a filtered visible light image and a filtered infrared image; Determining a matching position of the original visible light image and the original infrared image according to a maximum information metric value between a first sub-image corresponding to the filtered visible light image and a second sub-image corresponding to the filtered infrared image; Based on the matching position, overlapping areas are respectively intercepted from the original visible light image and the original infrared image to obtain the visible light image to be fused and the infrared image to be fused, and fusion calculation is performed on the visible light image to be fused and the infrared image to be fused to obtain a fused image.

2. The fusion method according to claim 1, characterized in that: The determining, according to a maximum information metric value between the first sub-image corresponding to the filtered visible light image and the second sub-image corresponding to the filtered infrared image, a matching position of the original visible light image and the original infrared image comprises: Taking the center of the filtered visible light image as a reference, intercepting the first sub-image of a preset size from the filtered visible light image, and calculating the information entropy of the first sub-image; sequentially intercepting the second sub-image having the same size as the first sub-image in the filtered infrared image according to a preset sliding direction, and calculating the information entropy of the second sub-image; Based on the information entropy of the first sub-image and the information entropy of the second sub-image, a maximum information metric value between the first sub-image and the second sub-image is calculated, and a cutout position of the second sub-image corresponding to the maximum information metric value is used as the matching position.

3. The fusion method according to claim 2, characterized in that: The length of the preset size is half of the length of the filtered visible light image, and the width of the preset size is half of the width of the filtered visible light image.

4. The fusion method according to any one of claims 1 to 3, characterized in that: The visible light image to be fused and the infrared image to be fused are fused by the following formula to obtain a fused image: Wherein, x represents the pixel value of each pixel in the visible light image to be fused, y represents the pixel value of each pixel in the infrared image to be fused, and z represents the pixel value of each pixel in the fused image.

5. The fusion method according to claim 4, characterized in that: The filtering process is performed on the original visible light image and the original infrared image respectively to obtain a filtered visible light image and a filtered infrared image, including: The weighted average values ​​of the neighborhoods corresponding to each pixel in the original image are calculated in sequence, and the absolute value is taken as the grayscale value of the pixel in the filtered image after subtracting the grayscale value of the pixel in the original image from the weighted average value of the neighborhood; wherein, if the original image is the original visible light image, the filtered image is the filtered visible light image, and if the original image is the original infrared image, the filtered image is the filtered infrared image.

6. A visible light image and infrared image fusion device, characterized in that: The fusion device comprises: An acquisition module configured to acquire an original visible light image and an original infrared image; A filtering module, configured to filter the original visible light image and the original infrared image respectively to obtain a filtered visible light image and a filtered infrared image; a determination module configured to determine a matching position of the original visible light image and the original infrared image according to a maximum information metric value between a first sub-image corresponding to the filtered visible light image and a second sub-image corresponding to the filtered infrared image; The fusion module is configured to take the matching position as a reference, respectively intercept overlapping areas from the original visible light image and the original infrared image to obtain the visible light image to be fused and the infrared image to be fused, and perform fusion calculation on the visible light image to be fused and the infrared image to be fused to obtain a fused image.

7. The fusion device according to claim 6, characterized in that: The determination module is specifically configured to intercept the first sub-image of a preset size from the filtered visible light image based on the center of the filtered visible light image, and calculate the information entropy of the first sub-image; sequentially intercepting the second sub-image having the same size as the first sub-image in the filtered infrared image according to a preset sliding direction, and calculating the information entropy of the second sub-image; Based on the information entropy of the first sub-image and the information entropy of the second sub-image, a maximum information metric value between the first sub-image and the second sub-image is calculated, and a cutout position of the second sub-image corresponding to the maximum information metric value is used as the matching position.

8. The fusion device according to claim 7, characterized in that: The length of the preset size is half of the length of the filtered visible light image, and the width of the preset size is half of the width of the filtered visible light image.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the instruction, the program, the code set or the instruction set is loaded and executed by the processor to implement the steps of the fusion method described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the fusion method described in any one of claims 1 to 5.

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