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Open access Aug 2026

SFDNet: spatial-frequency decoupled network for infrared and visible image fusion

Infrared and visible image fusion aims to integrate complementary information from different modalities to generate images with both salient targets and rich textures. However, existing methods mainly rely on spatial feature modeling and lack an explicit mechanism to exploit frequency-aware representations, limiting their ability to preserve fine-grained details. To address this limitation, we propose a novel spatial-frequency decoupled learning framework, termed spatial-frequency decoupled network(SFDNet), which decomposes features into low-frequency semantic structures and high-frequency detail components for independent representation learning and adaptive fusion. Unlike conventional fusion networks that implicitly couple different frequency information, the proposed framework introduces a dedicated spatial-frequency interaction paradigm. Specifically, a dual-branch architecture is designed, where a semantic branch captures stable global structures, while a detail branch jointly models spatial structural information and frequency-aware representations. Furthermore, a spatial-frequency compensation mechanism is developed to bridge the discrepancy between spatial and frequency features, enabling complementary enhancement. In addition, a frequency-aware feature enhancement module is introduced in the reconstruction stage to adaptively modulate frequency responses, thereby improving detail preservation while maintaining structural consistency. Extensive experiments on multiple benchmark datasets demonstrate that SFDNet consistently outperforms existing methods in both visual quality and quantitative evaluations. Moreover, it improves downstream object detection performance, further demonstrating the effectiveness of the proposed spatial-frequency decoupled learning framework.

Yufeng Li, Lei Yu, Chuanlong Xie et al. · 0 citations
Open access Aug 2026

Geometric Point-Cloud Perception and Defect-Aware Grasping Framework for Industrial Workpieces

Industrial robots in small-batch manufacturing and human–robot collaborative workstations are increasingly required to perform grasping and sorting tasks on workpieces with natural language instructions. Unlike generic object grasping, industrial workpieces may contain local surface defects such as dents, scratches, and geometric irregularities, which affect both target selection and grasp stability. This paper presents a geometric point-cloud perception and defect-aware grasping framework that leverages 3D geometric cues measured from point clouds to detect surface defects and guide robotic manipulation. Rather than learning an end-to-end visuomotor policy, the proposed framework introduces an explicit geometric reasoning layer between language-level task specification and robotic grasp execution. The language model is used only to convert instructions into structured task attributes, whereas defect perception, target ranking, and grasp-contact evaluation are performed using measurable 3D geometric evidence. These components require no task-specific training on annotated industrial defect or grasping datasets, making the formulation potentially useful for small-batch manufacturing scenarios in which large annotated defect datasets are unavailable. A shared defect-response representation supports both instance-level target selection and contact-region screening. We evaluate the proposed method on a controlled prototype tabletop setup, achieving an average defect instance-level F1-score of 0.89, a target grounding accuracy of 0.89, and a grasp success rate of 84.0%.

Yufeng Li, Hai-Feng Yu, Xin Su et al. · 0 citations

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