Research on Negative Road Obstacle Detection Based on Multimodal Feature Enhancement and Fusion

To address the issues of low recognition rates and poor detection accuracy for road negative obstacles caused by insufficient feature representation, we propose a novel detection framework: the Negative Road Obstacles Segmentation Network (NROSegNet). The detection performance of the algorithm is improved through a data enhancement strategy based on feature splicing and an adaptive feature enhancement module. Specifically, the data augmentation strategy introduces negative obstacle features into other datasets through geometric transformations and random splicing, effectively increasing the diversity of training data. This can solve the problem of an uneven distribution of data features while improving the performance of the model in capturing illumination changes and local details. The framework further adopts a dynamic multi-scale feature enhancement module to improve the perception of local details and global semantics. A robust multimodal data fusion mechanism and edge-aware optimization strategy are designed to effectively alleviate the problems of noise interference and boundary blur. The experimental results show that the NROSegNet proposed in this paper achieves 70.6 and 83.0 in mIoU and mF1, respectively, which is 2.8 percentage points and 2.9 percentage points higher than other methods. The results fully demonstrate its excellent performance in precise segmentation and boundary detail processing.