Infrared and visible image fusion has emerged as a prominent research in
computer vision. However, little attention has been paid on complex scenes
fusion, causing existing techniques to produce sub-optimal results when suffers
from real interferences. To fill this gap, we propose a decomposition-based and
interference perception image fusion method. Specifically, we classify the
pixels of visible image from the degree of scattering of light transmission,
based on which we then separate the detail and energy information of the image.
This refined decomposition facilitates the proposed model in identifying more
interfering pixels that are in complex scenes. To strike a balance between
denoising and detail preservation, we propose an adaptive denoising scheme for
fusing detail components. Meanwhile, we propose a new weighted fusion rule by
considering the distribution of image energy information from the perspective
of multiple directions. Extensive experiments in complex scenes fusions cover
adverse weathers, noise, blur, overexposure, fire, as well as downstream tasks
including semantic segmentation, object detection, salient object detection and
depth estimation, consistently indicate the effectiveness and superiority of
the proposed method compared with the recent representative methods.

我们提出了一种基于分解和干扰感知的图像融合方法，通过对可见图像的散射程度进行像素分类并分离图像的细节和能量信息，实现对复杂场景中的干扰像素的更好识别，并结合自适应降噪和加权融合规则，得到在复杂场景下优越的图像融合效果。

复杂场景下基于分解和干扰感知的红外与可见光图像融合

Decomposition-based and Interference Perception for Infrared and Visible  Image Fusion in Complex Scenes

Past research into robotic planning with temporal logic specifications,
notably Linear Temporal Logic (LTL), was largely based on singular formulas for
individual or groups of robots. But with increasing task complexity, LTL
formulas unavoidably grow lengthy, complicating interpretation and
specification generation, and straining the computational capacities of the
planners. In order to maximize the potential of LTL specifications, we
capitalized on the intrinsic structure of tasks and introduced a hierarchical
structure to LTL specifications. In contrast to the "flat" structure, our
hierarchical model has multiple levels of compositional specifications and
offers benefits such as greater syntactic brevity, improved interpretability,
and more efficient planning. To address tasks under this hierarchical temporal
logic structure, we formulated a decomposition-based method. Each specification
is first broken down into a range of temporally interrelated sub-tasks. We
further mine the temporal relations among the sub-tasks of different
specifications within the hierarchy. Subsequently, a Mixed Integer Linear
Program is utilized to generate a spatio-temporal plan for each robot. Our
hierarchical LTL specifications were experimentally applied to domains of
robotic navigation and manipulation. Results from extensive simulation studies
illustrated both the enhanced expressive potential of the hierarchical form and
the efficacy of the proposed method.

通过引入分层结构的时态逻辑规范，将传统的机器人规划方法分解为多层组合规范，以提高语法简洁性、可解释性和规划效率，同时开发了一种基于分解的方法来处理具有分层时态逻辑结构的任务，实验结果表明分层形式具有更强的表达潜力，并且所提出的方法具有很好的效果，适用于机器人导航与操纵。