9268 results about "Image pair" patented technology

The invention provides an engineering construction defect automatic detection and classification method based on deep learning, and the method comprises the steps: obtaining a welding seam surface image through the shooting of an unmanned plane, and carrying out the denoising and illumination normalization processing of the welding seam surface image, and obtaining a standardized image; welding seam surface texture features are extracted from the standardized image, a convolutional neural network is adopted to analyze the spatial distribution characteristics of textures, and vectorization processing is carried out to obtain texture feature vectors; segmenting a weld surface corresponding to abnormal region distribution by adopting a region growing algorithm, and analyzing pore and weld discontinuity in combination with the texture feature vector to obtain a defect candidate region; performing threshold division on the sizes and the numbers of the defects according to the defect types and the feature vectors of the candidate regions to obtain a severity grading result of each type of defects; and severity features are extracted from a grading result, and a Bayesian network is adopted to fuse texture feature vectors and defect type labels to obtain a welding quality evaluation score.

The invention discloses an unmanned aerial vehicle laser and vision fusion inspection method and system for bridge bottom disease detection, and the method comprises the steps: carrying out the synchronous data collection through employing a calibrated laser radar, a camera and an IMU, and obtaining a three-dimensional laser point cloud and a two-dimensional visual image of the appearance of a bridge; sharpening the image containing the motion blur and completing brightness self-adaption of the image; stable feature points are extracted, multi-frame matching is carried out, the corresponding poses of the images are estimated, and bridge dense point cloud reconstruction is completed; performing geometric component segmentation on the point cloud to generate a geometric prior region; component segmentation is carried out on a support area in the image, and a continuous and accurate component segmentation result is obtained in combination with a geometric prior area; screening the image, calling a targeted disease detection model in a corresponding component area, and generating a segmentation mask for the disease; obtaining a real disease three-dimensional point cloud, and carrying out quantitative calculation on the physical size of the disease; and displaying the real disease three-dimensional point cloud data and the physical size of the disease. The method is high in efficiency and precision.

The invention belongs to the technical field of computer vision and deep learning, and particularly relates to a PCB defect detection method based on combination of a visual converter and conditional diffusion. Comprising the following steps: constructing an unlabeled PCB image data set and carrying out data preprocessing and enhancement to obtain a preprocessed image; executing a self-supervised pre-training task on the preprocessed image to obtain a feature extraction network; based on a conditional diffusion model, generating a synthetic defect PCB image and a label thereof by using the features output by the feature extraction network and the defect type control vector; mixing the synthetic defect image with a small number of real defect images to construct a training set; performing training adjustment on the defect detection model by adopting the training set to obtain a trained defect detection model; performing PCB defect detection by using the trained defect detection model; according to the method, the robustness and the cross-domain generalization ability are remarkably improved, the missed detection risk is reduced, and the rapid and stable quality control requirement of the production line is met.

The invention relates to the technical field of constructional engineering, and discloses a concrete crack intelligent identification and analysis platform based on image and point cloud fusion, the platform operates a concrete crack intelligent identification and analysis method, and the method comprises the following steps: S1, synchronously collecting image data and point cloud data of a concrete structure in the same scene; s2, establishing a unified world coordinate system and generating a depth map corresponding to the image; s3, generating image domain crack candidates; s4, generating a depth domain crack candidate; s5, performing weighted fusion on the image domain crack candidate and the depth domain crack candidate to generate a fusion crack response; s6, extracting a crack skeleton; s7, obtaining a crack three-dimensional model; and S8, selecting an optimal view angle to trigger re-acquisition of the crack area. Through a closed-loop feedback mechanism, an optimal view angle is selected for re-acquisition by calculating a comprehensive utility value after preliminary acquisition, so that information insufficiency caused by illumination, angle or sparse data is effectively made up.

The invention discloses a Gaussian representation SLAM method based on dense matching priori and factor graph constraint, which comprises the steps of inputting a current image and a key frame image, outputting a point graph corresponding to the image through a pre-trained model, returning a matching condition of two frame image points and respective point cloud information, and obtaining a point-level matching result based on a point-level matching result. The method comprises the following steps: constructing a joint optimization problem of a current frame and a key frame by taking a luminosity consistency error and a geometric projection error as targets, performing joint estimation on a camera pose and a point cloud of the current frame, realizing high-precision pose solution, generating point diagram data after Gaussian scene representation and rasterized rendering processing, and transmitting the point diagram data to a rear end for global optimization. And the rear end receives the pose and point cloud data, executes loopback detection to identify repeated key frames, and performs Gaussian rendering through an optimized key frame image to complete global dense three-dimensional reconstruction. The method effectively solves the problem of track drift and scene inconsistency caused by lack of pose priori and global geometric constraints in an existing system.

The invention discloses a method and a device for detecting abnormity of an electric power inspection image, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring the electric power inspection image; identifying and cutting the electric power inspection image based on the type of to-be-inspected equipment to obtain a target inspection image; performing multi-scale decomposition and extraction on the target inspection image to obtain scale features; mapping the target inspection image based on the scale features, and determining a target detection area image; performing enhancement processing on the target detection area image to obtain an enhanced image; and performing comparative analysis on the enhanced image and a normal image at the target detection area image to obtain an anomaly detection result. Through the method and the device provided by the embodiment of the invention, accurate anomaly detection of the electric power inspection image is realized.

The invention relates to the technical field of engineering materials, in particular to an engineering material quality detection method and system based on image recognition, and the method comprises the steps: reference image acquisition, sampling point selection and marking, image acquisition, image comparison and positioning, secondary acquisition and anomaly analysis. Compared with the defects that a detection system in the prior art is rigid in process, poor in adaptability and difficult to cope with a complex and changeable engineering field environment, the scheme constructs a full-process automatic system from intelligent sampling, self-adaptive image acquisition, precise registration and semantic level difference detection to intelligent post-processing and analysis; the method has high intelligence, adaptivity and robustness, and can stably and efficiently complete quality detection tasks in a complex engineering environment.

The invention belongs to the technical field of image processing, and particularly relates to a titanium cylinder inner wall defect detection method and system.The method comprises the steps that a titanium cylinder inner wall image is collected, and a highlight area and boundary pixel points thereof are extracted through threshold segmentation and corrosion operation; calculating a scale adjustment factor by combining a highlight area proportion and a boundary gradient amplitude, dynamically scaling the reference kernel according to the scale adjustment factor, and determining a standard deviation of a multi-scale Gaussian kernel; constructing a Gaussian kernel function of each scale, and calculating the sum of difference values of the titanium cylinder inner wall image and convolution results of all scales in a logarithm domain to obtain an enhanced titanium cylinder inner wall image; and performing threshold segmentation on the enhanced titanium cylinder inner wall image to identify a defect area. According to the method, the filtering scale is adjusted in a self-adaptive mode, mirror reflection interference is effectively restrained, halo artifacts are eliminated, and tiny defects covered by highlight are accurately recognized.

The invention belongs to the technical field of hydraulic engineering detection, and particularly provides a hydraulic metal structure surface coating defect detection method and a hydraulic metal structure surface coating defect detection device based on image processing. In a wet and dry alternating environment of a hydraulic metal structure, a multispectral imaging device is used for acquiring an image of a metal structure surface coating, and the acquired multispectral image is preprocessed; a complete and clear image to be detected is obtained; extracting features related to coating defects from the preprocessed to-be-detected image, wherein the features comprise spectral features, texture features and color features; and inputting the extracted features related to the coating defects into a pre-trained classification model, and classifying the coating defects through the classification model. According to the method and the device, the state of the coating can be comprehensively described, and the type and the degree of the coating defect can be accurately identified.

The invention relates to a deformation online measurement and control method for multi-robot collaborative assembly. The method comprises the steps that multi-view surface images of workpieces in the assembly process are collected in real time through distributed robots and cameras arranged at the tail ends of the distributed robots; each view angle surface image is input into a deep learning model trained based on a digital image related technology, the optimal pixel displacement corresponding to each view angle surface image is output, and the optimal pixel displacement corresponding to each view angle surface image is converted into a spatial displacement label; the deep learning model takes an encoder-decoder as a trunk network; fusing the spatial displacement labels corresponding to the view angle surface images to obtain a fused displacement field; based on the fusion displacement field and the nominal path planning point, the tail end pose of the distributed robot is determined; the assembly error is calculated based on the reference target positioning and the tail end pose, and the PID controller adjusts the joint space of the distributed robot based on the assembly error. According to the method, the calculation overhead is remarkably reduced, and the measurement precision and robustness are improved.

The invention provides a small target detection method and system based on aligned visible light and infrared images, and relates to the field of target detection, and the method comprises the steps: obtaining a visible light image and an infrared image of a to-be-detected small target; inputting a visible light image and an infrared image into the trained detection model, firstly, respectively performing multi-scale feature extraction on the visible light image and the infrared image by adopting a double-branch structure, and in the extraction process, performing multi-scale feature extraction on the visible light image and the infrared image through interactive collaborative learning of the visible light image and the infrared image; the method comprises the following steps: firstly, carrying out feature alignment, modal interaction correction and multi-scale feature enhancement between two modals to obtain enhanced visible light features and infrared features, then carrying out feature fusion, and finally, carrying out small target positioning and classification by utilizing the fused features. According to the method, feature level alignment of image pairs is realized by using deformable convolution and modal interaction correction, so that the features of visible light and infrared images are effectively and fully interacted and fused, and the accuracy of a detection algorithm is improved.

The invention relates to the technical field of virtual reality, in particular to an indoor structure reconstruction method based on a panoramic image scene understanding algorithm, and the method comprises the steps: S11, obtaining a plurality of equidistant columnar projection panoramic images of a current indoor scene through a panoramic camera or a panoramic image splicing algorithm; s12, performing semantic segmentation on the collected panoramic image by using SAM, deducing indoor ceiling, floor and wall areas of the panoramic image on the basis of a semantic segmentation result, and generating a multi-channel semantic graph; and S13, inputting the acquired RGB panoramic images and the multi-channel semantic map into a pre-trained panoramic image depth estimation model to obtain a depth map corresponding to each panoramic image. The method is used for automatically generating an indoor structure model, the scheme comprises the core steps of semantic segmentation and layout reasoning, depth estimation and point cloud construction, structure optimization and indoor model reconstruction and the like, and a complete indoor panoramic image scene understanding scheme is formed.

The invention discloses a wildlife detection method fusing an unmanned aerial vehicle thermal infrared image and a visible light image, and belongs to the field of small target wildlife identification, and the method comprises the following steps: S1, obtaining a preprocessed TIR-RGB image pair set; s2, an FDM-YOLO double-source target detection model improved based on YOLOv81 is constructed, and the improved FDM-YOLO double-source target detection model is trained based on the preprocessed TIR-RGB image pair set obtained in the step S1; and S3, inputting an image acquired in real time into the improved FDM-YOLO double-source target detection model trained in the step S2, and outputting a wild animal detection result. By adopting the wild animal detection method fusing the thermal infrared image and the visible light image of the unmanned aerial vehicle, high-precision, real-time and robust detection of a small target of a wild animal in a complex field environment is realized by improving the FDM-YOLO model.

The invention relates to the technical field of image correction, in particular to a correction method and system for a low-distortion image of a panoramic camera. The method comprises the following steps: based on a second-hand vehicle scene acquisition demand, acquiring a panoramic image and executing basic preprocessing to obtain a preprocessed panoramic image; calling a lens distortion coefficient, analyzing a corresponding distortion parameter in combination with a checkerboard calibration algorithm, and generating a polar region distortion distribution diagram; carrying out segmentation and grid reconstruction on a polar region of the preprocessed panoramic image, and executing distortion elimination and geometric reduction to obtain a preliminary correction image; fine tuning is carried out on the pixel position of the preliminary correction image, color fault and edge dislocation of a multi-lens splicing seam are eliminated, and an optimized correction image is obtained; executing second-hand car scene customized enhancement processing on the optimized correction image to obtain an enhanced correction image; and automatically checking the enhanced correction image, and outputting a low-distortion final correction image. According to the invention, the correction efficiency of the panoramic low-distortion image of the second-hand vehicle can be improved.

The invention discloses a PCB defect real-time detection method based on multi-scale feature fusion, and relates to the technical field of PCB defect real-time detection methods, and the method comprises the steps: obtaining a to-be-detected PCB image, carrying out the size normalization and pixel value standardization processing of the image, and obtaining a standardized image meeting the input requirements of a model; inputting the standardized image into a backbone network of a teacher detection model, and extracting a multi-scale primary feature map containing texture information in different directions through a grouping convolution structure; transmitting the multi-scale primary feature map to a neck network of a teacher detection model, and performing weighted fusion on feature maps of different scales by using a learnable weight to generate a multi-scale fusion feature map; and in an up-sampling path of the neck network, generating channel description information after global pooling is performed on the deep fusion feature map, generating a channel attention weight through nonlinear transformation, acting the weight on a primary feature map of a corresponding level, and outputting an enhanced feature map.

The invention discloses a power equipment defect intelligent identification method, system and device and a medium, and the method comprises the steps: collecting an original image of power equipment, and screening the original image of the power equipment to obtain a channel image; carrying out enhancement processing on the channel image and then calculating a gray scale difference value to obtain a gray scale image; converting the gray level image into a frequency spectrum image by adopting fast Fourier transform, and constructing a Gaussian filtering function to carry out convolution and inverse transformation on the frequency spectrum image to obtain a spatial domain image; and performing adaptive threshold segmentation on the spatial domain image, dividing the image into a defect area and a non-defect area, obtaining a segmented image, and performing morphological processing on the segmented image to obtain an electrical equipment defect identification result. According to the method, the problem of aliasing in traditional spatial domain processing is solved, the defect area is accurately extracted, short-time interference and real defects can be effectively distinguished, and the segmentation accuracy is improved.

The invention relates to the technical field of image data processing and intelligent control, and discloses a patch board spot welding track intelligent control method and system based on visual perception. According to the method, synchronous image streams are collected through a binocular vision sensor, and epipolar correction image pairs are generated through timestamp synchronization, ROI extraction and epipolar correction processing; calculating a disparity map by adopting a stereo matching algorithm, and constructing a compensated three-dimensional point cloud model based on deformation vector field fusion multi-frame point cloud data of a radial basis kernel function; welding spot position error vectors are generated by extracting welding spot feature points and performing spatial filtering optimization; and carrying out inverse kinematics calculation on the mechanical arm by adopting a damping least square method, carrying out safety constraint optimization in combination with prospective collision risk assessment and real-time pose data, and generating a trajectory compensation instruction. According to the method, the problems of dynamic deformation compensation and motion safety in patch plate welding are solved, the submillimeter welding spot positioning precision is achieved, and the welding quality stability and the system robustness are improved.

The invention provides a microscopic automatic focusing method and system based on image gray histogram characteristics, and the method comprises the steps: collecting an image sequence under different focal lengths, carrying out the fuzzy processing, extracting a gray histogram of each frame of image, and calculating the peak position and full width at half maximum of the histogram as the evaluation characteristics of the image definition; calculating the variance of each feature and automatically allocating a weight according to the relative response degree; and finally, comprehensively evaluating the image definition through a weighted definition scoring function, and selecting the focal length corresponding to the image with the optimal score as the optimal focusing position. The method is based on the global features of the gray histogram, is high in anti-noise capability, is adaptive to different imaging scenes through weight adaptive adjustment, is low in calculation complexity, supports real-time focusing, is especially suitable for high-noise fluorescence microscopic imaging scenes, is high in system portability, is low in operation threshold, and effectively improves the accuracy and stability of microscopic automatic focusing.

The invention relates to the technical field of image processing, and discloses an infrared image enhancement method and system based on local phase correlation, and the method comprises the steps: obtaining a plurality of continuous frames of infrared images, carrying out the intelligent partitioning of a reference frame, and calculating the variance feature, the method comprises the following steps: selecting regions of interest with rich information, independently executing phase correlation operation in each region to extract a local translation vector, obtaining global displacement estimation through weighted fusion, adopting an abnormal value detection algorithm to improve robustness, and finally realizing sub-pixel-level image alignment and intelligent weighted fusion. The method is suitable for real-time enhancement processing of satellite-borne infrared remote sensing images, the resource constraint requirement of an embedded platform is met while the processing quality is guaranteed, and an efficient and reliable technical scheme is provided for space remote sensing image processing.

The invention discloses a remote sensing image semantic segmentation prediction method and system based on a vision-language pre-training model. The method comprises the following steps: acquiring a source domain image with a label and a target domain image without a label; adding a pseudo tag to the target domain image without the tag by using a teacher network; performing style conversion on the labeled source domain image to obtain a style migration image with a target domain image visual style; extracting text embedding features of the labeled source domain image by using a pre-trained vision-language pre-training model to obtain text embedding features of a semantic category; fusing the tagged source domain image, the style migration image and the text embedding features of the semantic category to generate an intermediate domain fusion image containing double-domain information and language priori knowledge; performing random mask processing on the intermediate domain fusion image; and inputting the multi-scale context features and the text embedding features of the student network extraction mask image into a vision-language decoder, and then carrying out semantic segmentation on a prediction result.

The present application provides a cardiac fibrosis diagnosis model based on multi-task attentional feature fusion. The cardiac fibrosis diagnosis model is established by the following steps: S01: image collection and labeling: obtaining cardiac magnetic resonance (MR) images as sample data, and performing manual labeling to obtain heart labels corresponding to the MR images; S02: image preprocessing, including normalization processing, data enhancement, and data clipping; S03: model establishment, including establishment of an image recovery network and establishment of an image segmentation and classification network, and executing an image recovery task; S04: model pre-training: training the image recovery network such that the encoder of the image recovery network fully learns the feature of the cardiac fibrosis image; and S05: model training. An objective of the present application is to improve the segmentation precision and diagnosis accuracy of a network model for a cardiac fibrosis image.

The invention relates to an intelligent inspection data processing method and system. The intelligent inspection data processing method comprises the following steps: analyzing an infrared image in an inspection scene to obtain an image resolution, a temperature matrix and a pseudo-color image of the infrared image; synchronizing annotation information of the infrared image and the visible light image in the inspection scene to obtain multi-modal annotation data; based on preset reference object information, performing defect quantitative analysis on the multi-modal labeling data, and generating a real physical size quantitative result of the defect; and carrying out associative storage on the image resolution, the temperature matrix, the pseudo-color image and the quantification result. According to the invention, the whole-process optimization of the inspection data can be realized, and the processing stability, the defect detection accuracy and the system practicability are effectively improved.

The invention discloses a remote sensing image semantic segmentation method based on geometric perception diffusion guidance, and is applied to the technical field of remote sensing image semantic segmentation. Comprising a training stage and a testing stage, in the training stage, original remote sensing images, nDSM corresponding to each original remote sensing image and real semantic segmentation images are selected to form a training sample set, and a segmentation everything model based on geometric perception diffusion guidance is constructed and trained; comprising an enhanced visual converter encoder, a diffusion prompt module, a segmented everything image prompt encoder, a segmented everything image mask decoder and a prompt level supervision strategy. In the test stage, various channel components of a to-be-detected remote sensing image are input into the trained model, and the model network outputs a remote sensing image semantic segmentation prediction map corresponding to an original remote sensing image. According to the method, multi-modal remote sensing data can be effectively fused, a multi-scale space structure is captured, and full-automatic semantic segmentation is realized, so that the segmentation efficiency and accuracy are remarkably improved.

The invention provides a face recognition method and device, electronic equipment and a medium, and the method comprises the steps: processing a scaled to-be-recognized face image through a face detection model, and determining the coordinates of a face region and a plurality of key points in the original to-be-recognized face image based on the recognition result of the face detection model; based on the coordinates of the plurality of key points in the to-be-recognized face image and the coordinates of the plurality of key points in a preset face template, aligning a face region in the to-be-recognized face image to the preset face template, and outputting an aligned face image of a preset size; processing the aligned face image through a face recognition model comprising a down-sampling module, and generating a target face feature of the face image to be recognized; the user information of the target user corresponding to the to-be-recognized face image is determined based on the similarity between the target face feature of the to-be-recognized face image and the feature vector of the user in the database, so that the calculation amount in the face recognition process is reduced, and the accuracy and precision are both considered.

The invention provides a low-illumination perception method and system based on space-frequency fusion, and relates to the technical field of image processing, and the method comprises the steps: obtaining a normal light image and a low-illumination image corresponding to the normal light image; performing feature extraction on the normal light image and the low-illumination image through an encoder to obtain multi-scale spatial features; decomposing the multi-scale spatial features through stationary wavelet transform to generate a low-frequency feature component and a high-frequency feature component; performing optimization processing on the low-frequency characteristic component and the high-frequency characteristic component based on a parameter learnable frequency domain adaptive filtering mechanism; fusing the optimized low-frequency feature component and the optimized high-frequency feature component by introducing a cross attention learning mechanism to obtain a frequency domain feature; performing adaptive complementary fusion on the frequency domain features and the multi-scale spatial features to generate fusion features; step-by-step up-sampling is carried out on the fusion features through a decoder; and outputting a segmentation result of the low-illumination image through a sensing head according to the fusion features after up-sampling.

The invention relates to the technical field of medical image processing, in particular to a colorectal cancer auxiliary staging method and system based on a CT image, and the method comprises the following steps: obtaining an abdominal CT image of a patient with colorectal cancer, and obtaining CT image data containing focus labeling information; preprocessing the CT image data containing the focus labeling information, and constructing a CT image data set; constructing an improved UNet network model based on the UNet network architecture, and performing training optimization on the improved UNet network model by adopting the CT image data set to obtain a trained improved UNet network model; and inputting a to-be-staging CT image into the trained improved UNet network model, and outputting a colorectal cancer T staging result corresponding to the to-be-staging CT image. According to the technical scheme of the invention, precise focus segmentation and automatic classification of T stages of the colorectal cancer CT image are realized.

The invention discloses a collaborative optimization method and device for three-dimensional tissue segmentation and registration of a brain nerve image, and the method comprises the steps: S01, constructing a segmentation and registration collaborative model which comprises a shared feature encoder, a segmentation path and a registration path, the segmentation path is used for generating a segmentation probability distribution diagram, and the registration path is used for generating a deformation field; s02, acquiring a training set of the brain three-dimensional magnetic resonance image pair; s03, performing cooperative training on the segmentation and registration cooperative model according to a multi-task cooperative loss function, the loss function including segmentation loss, registration loss and a cooperative regularization term, and the cooperative regularization term modulating a deformation field gradient penalty term by using a multi-scale boundary weight map and a tissue-specific mechanical weight; and S04, receiving an image pair to be registered in real time, and inputting the image pair to be registered into the trained segmentation registration collaborative model to obtain a registration result. According to the method, the calculation efficiency can be remarkably improved while the segmentation and registration precision is ensured.

The invention relates to a method for dynamically adjusting parameters of a video encoder, which comprises the following steps of: acquiring a visual characteristic index corresponding to a video frame image in real time, and calculating an image complexity score of the image according to the visual characteristic index; the visual feature indexes comprise motion intensity, edge density and information entropy; acquiring a network index of a video transmission network in real time; the network indexes comprise available bandwidth, delay, jitter and packet loss rate; obtaining a current encoder control parameter according to the current image complexity score and the network index; the control parameters of the encoder comprise GOP, GP, FPS and Buffer Size; and adjusting the encoder according to the obtained control parameters of the encoder. The method is superior to an existing fixed parameter coding system in the aspects of image quality, delay control, system robustness and adaptability.

The invention relates to a six-eye camera panoramic video real-time splicing method and system and computer equipment, and the method comprises the steps: synchronously carrying out the image collection through a six-eye camera array, and adding a timestamp to each video frame image; performing real-time feature extraction on the video frame image, and establishing a feature matching relationship in a view field overlapping region of adjacent cameras; based on the feature matching relationship, mapping each video frame image to a unified splicing coordinate system through projection transformation; performing splicing processing on the video frame images after projection transformation through multi-band fusion, and eliminating splicing traces at the boundary of the field of view; and reconstructing the panoramic frame images obtained after splicing processing according to a time sequence, and outputting a continuous panoramic video stream so as to realize real-time and seamless splicing and correction of six paths of high-definition video streams and finally output a global panoramic video stream with no visual fracture and consistent time and space.

The invention discloses a difference feature guided spatial channel multi-modal image fusion method and system, and the method specifically comprises the steps: 1, carrying out the fusion of a visible light multi-modal image and an infrared light multi-modal image at a plurality of layers, and carrying out the complementation of the missing information between two modals; obtaining image features of the visible light multi-modal image and image features of the infrared light multi-modal image; step 2, performing interaction and fusion on the two image features in the step 1 on a channel level to obtain features corresponding to the fused visible light multi-modal image and features corresponding to the fused infrared light multi-modal image; 3, performing spatial fusion on the features obtained in the step 2 to obtain fused spatial features; according to the invention, interactive fusion can be realized between the visible light mode and the infrared light mode, so that the quality of the fused image is improved. According to the method, the disadvantage of a single-mode image in a downstream task can be effectively solved, and complementary information of two modes can be better utilized.