Cross-Dimension Attentive Feature Fusion Network for Unsupervised Time-Series Anomaly Detection

Time series anomaly detection is crucial in various industrial applications to identify unusual behaviors within the time series data.Due to the challenges associated with annotating anomaly events,time series reconstruction has become a prevalent approach for unsupervised anomaly detection.However,effectively learning representations and achieving accurate detection results remain challenging due to the intricate temporal patterns and dependencies in real-world time series.In this paper,we propose a cross-dimension attentive feature fusion network for time series anomaly detection,referred to as CAFFN.Specifically,a series and feature mixing block is introduced to learn representations in 1D space.Additionally,a fast Fourier transform is employed to convert the time series into 2D space,providing the capability for 2D feature extraction.Finally,a cross-dimension attentive feature fusion mechanism is designed that adaptively integrates features across different dimensions for anomaly detection.Experimental results on real-world time series datasets demonstrate that CAFFN performs better than other competing methods in time series anomaly detection.

Feature extraction for machine learning-based intrusion detection in IoT networks

A large number of network security breaches in IoT networks have demonstrated the unreliability of current Network Intrusion Detection Systems(NIDSs).Consequently,network interruptions and loss of sensitive data have occurred,which led to an active research area for improving NIDS technologies.In an analysis of related works,it was observed that most researchers aim to obtain better classification results by using a set of untried combinations of Feature Reduction(FR)and Machine Learning(ML)techniques on NIDS datasets.However,these datasets are different in feature sets,attack types,and network design.Therefore,this paper aims to discover whether these techniques can be generalised across various datasets.Six ML models are utilised:a Deep Feed Forward(DFF),Convolutional Neural Network(CNN),Recurrent Neural Network(RNN),Decision Tree(DT),Logistic Regression(LR),and Naive Bayes(NB).The accuracy of three Feature Extraction(FE)algorithms is detected;Principal Component Analysis(PCA),Auto-encoder(AE),and Linear Discriminant Analysis(LDA),are evaluated using three benchmark datasets:UNSW-NB15,ToN-IoT and CSE-CIC-IDS2018.Although PCA and AE algorithms have been widely used,the determination of their optimal number of extracted dimensions has been overlooked.The results indicate that no clear FE method or ML model can achieve the best scores for all datasets.The optimal number of extracted dimensions has been identified for each dataset,and LDA degrades the performance of the ML models on two datasets.The variance is used to analyse the extracted dimensions of LDA and PCA.Finally,this paper concludes that the choice of datasets significantly alters the performance of the applied techniques.We believe that a universal(benchmark)feature set is needed to facilitate further advancement and progress of research in this field.

IMTNet:Improved Multi-Task Copy-Move Forgery Detection Network with Feature Decoupling and Multi-Feature Pyramid

Copy-Move Forgery Detection(CMFD)is a technique that is designed to identify image tampering and locate suspicious areas.However,the practicality of the CMFD is impeded by the scarcity of datasets,inadequate quality and quantity,and a narrow range of applicable tasks.These limitations significantly restrict the capacity and applicability of CMFD.To overcome the limitations of existing methods,a novel solution called IMTNet is proposed for CMFD by employing a feature decoupling approach.Firstly,this study formulates the objective task and network relationship as an optimization problem using transfer learning.Furthermore,it thoroughly discusses and analyzes the relationship between CMFD and deep network architecture by employing ResNet-50 during the optimization solving phase.Secondly,a quantitative comparison between fine-tuning and feature decoupling is conducted to evaluate the degree of similarity between the image classification and CMFD domains by the enhanced ResNet-50.Finally,suspicious regions are localized using a feature pyramid network with bottom-up path augmentation.Experimental results demonstrate that IMTNet achieves faster convergence,shorter training times,and favorable generalization performance compared to existingmethods.Moreover,it is shown that IMTNet significantly outperforms fine-tuning based approaches in terms of accuracy and F_(1).

MSD-Net: Pneumonia Classification Model Based on Multi-Scale Directional Feature Enhancement

Computer-aided diagnosis of pneumonia based on deep learning is a research hotspot.However,there are some problems that the features of different sizes and different directions are not sufficient when extracting the features in lung X-ray images.A pneumonia classification model based on multi-scale directional feature enhancement MSD-Net is proposed in this paper.The main innovations are as follows:Firstly,the Multi-scale Residual Feature Extraction Module(MRFEM)is designed to effectively extract multi-scale features.The MRFEM uses dilated convolutions with different expansion rates to increase the receptive field and extract multi-scale features effectively.Secondly,the Multi-scale Directional Feature Perception Module(MDFPM)is designed,which uses a three-branch structure of different sizes convolution to transmit direction feature layer by layer,and focuses on the target region to enhance the feature information.Thirdly,the Axial Compression Former Module(ACFM)is designed to perform global calculations to enhance the perception ability of global features in different directions.To verify the effectiveness of the MSD-Net,comparative experiments and ablation experiments are carried out.In the COVID-19 RADIOGRAPHY DATABASE,the Accuracy,Recall,Precision,F1 Score,and Specificity of MSD-Net are 97.76%,95.57%,95.52%,95.52%,and 98.51%,respectively.In the chest X-ray dataset,the Accuracy,Recall,Precision,F1 Score and Specificity of MSD-Net are 97.78%,95.22%,96.49%,95.58%,and 98.11%,respectively.This model improves the accuracy of lung image recognition effectively and provides an important clinical reference to pneumonia Computer-Aided Diagnosis.

YOLO-MFD:Remote Sensing Image Object Detection with Multi-Scale Fusion Dynamic Head

Remote sensing imagery,due to its high altitude,presents inherent challenges characterized by multiple scales,limited target areas,and intricate backgrounds.These inherent traits often lead to increased miss and false detection rates when applying object recognition algorithms tailored for remote sensing imagery.Additionally,these complexities contribute to inaccuracies in target localization and hinder precise target categorization.This paper addresses these challenges by proposing a solution:The YOLO-MFD model(YOLO-MFD:Remote Sensing Image Object Detection withMulti-scale Fusion Dynamic Head).Before presenting our method,we delve into the prevalent issues faced in remote sensing imagery analysis.Specifically,we emphasize the struggles of existing object recognition algorithms in comprehensively capturing critical image features amidst varying scales and complex backgrounds.To resolve these issues,we introduce a novel approach.First,we propose the implementation of a lightweight multi-scale module called CEF.This module significantly improves the model’s ability to comprehensively capture important image features by merging multi-scale feature information.It effectively addresses the issues of missed detection and mistaken alarms that are common in remote sensing imagery.Second,an additional layer of small target detection heads is added,and a residual link is established with the higher-level feature extraction module in the backbone section.This allows the model to incorporate shallower information,significantly improving the accuracy of target localization in remotely sensed images.Finally,a dynamic head attentionmechanism is introduced.This allows themodel to exhibit greater flexibility and accuracy in recognizing shapes and targets of different sizes.Consequently,the precision of object detection is significantly improved.The trial results show that the YOLO-MFD model shows improvements of 6.3%,3.5%,and 2.5%over the original YOLOv8 model in Precision,map@0.5 and map@0.5:0.95,separately.These results illustrate the clear advantages of the method.

Multi-Binary Classifiers Using Optimal Feature Selection for Memory-Saving Intrusion Detection Systems

With the rise of remote work and the digital industry,advanced cyberattacks have become more diverse and complex in terms of attack types and characteristics,rendering them difficult to detect with conventional intrusion detection methods.Signature-based intrusion detection methods can be used to detect attacks;however,they cannot detect new malware.Endpoint detection and response(EDR)tools are attracting attention as a means of detecting attacks on endpoints in real-time to overcome the limitations of signature-based intrusion detection techniques.However,EDR tools are restricted by the continuous generation of unnecessary logs,resulting in poor detection performance and memory efficiency.Machine learning-based intrusion detection techniques for responding to advanced cyberattacks are memory intensive,using numerous features;they lack optimal feature selection for each attack type.To overcome these limitations,this study proposes a memory-efficient intrusion detection approach incorporating multi-binary classifiers using optimal feature selection.The proposed model detects multiple types of malicious attacks using parallel binary classifiers with optimal features for each attack type.The experimental results showed a 2.95%accuracy improvement and an 88.05%memory reduction using only six features compared to a model with 18 features.Furthermore,compared to a conventional multi-classification model with simple feature selection based on permutation importance,the accuracy improved by 11.67%and the memory usage decreased by 44.87%.The proposed scheme demonstrates that effective intrusion detection is achievable with minimal features,making it suitable for memory-limited mobile and Internet of Things devices.

FIBTNet:Building Change Detection for Remote Sensing Images Using Feature Interactive Bi-Temporal Network

In this paper,a feature interactive bi-temporal change detection network(FIBTNet)is designed to solve the problem of pseudo change in remote sensing image building change detection.The network improves the accuracy of change detection through bi-temporal feature interaction.FIBTNet designs a bi-temporal feature exchange architecture(EXA)and a bi-temporal difference extraction architecture(DFA).EXA improves the feature exchange ability of the model encoding process through multiple space,channel or hybrid feature exchange methods,while DFA uses the change residual(CR)module to improve the ability of the model decoding process to extract different features at multiple scales.Additionally,at the junction of encoder and decoder,channel exchange is combined with the CR module to achieve an adaptive channel exchange,which further improves the decision-making performance of model feature fusion.Experimental results on the LEVIR-CD and S2Looking datasets demonstrate that iCDNet achieves superior F1 scores,Intersection over Union(IoU),and Recall compared to mainstream building change detectionmodels,confirming its effectiveness and superiority in the field of remote sensing image change detection.

MSC-YOLO:Improved YOLOv7 Based on Multi-Scale Spatial Context for Small Object Detection in UAV-View

Accurately identifying small objects in high-resolution aerial images presents a complex and crucial task in thefield of small object detection on unmanned aerial vehicles(UAVs).This task is challenging due to variations inUAV flight altitude,differences in object scales,as well as factors like flight speed and motion blur.To enhancethe detection efficacy of small targets in drone aerial imagery,we propose an enhanced You Only Look Onceversion 7(YOLOv7)algorithm based on multi-scale spatial context.We build the MSC-YOLO model,whichincorporates an additional prediction head,denoted as P2,to improve adaptability for small objects.We replaceconventional downsampling with a Spatial-to-Depth Convolutional Combination(CSPDC)module to mitigatethe loss of intricate feature details related to small objects.Furthermore,we propose a Spatial Context Pyramidwith Multi-Scale Attention(SCPMA)module,which captures spatial and channel-dependent features of smalltargets acrossmultiple scales.This module enhances the perception of spatial contextual features and the utilizationof multiscale feature information.On the Visdrone2023 and UAVDT datasets,MSC-YOLO achieves remarkableresults,outperforming the baseline method YOLOv7 by 3.0%in terms ofmean average precision(mAP).The MSCYOLOalgorithm proposed in this paper has demonstrated satisfactory performance in detecting small targets inUAV aerial photography,providing strong support for practical applications.

FusionNN:A Semantic Feature Fusion Model Based on Multimodal for Web Anomaly Detection

With the rapid development of the mobile communication and the Internet,the previous web anomaly detectionand identificationmodels were built relying on security experts’empirical knowledge and attack features.Althoughthis approach can achieve higher detection performance,it requires huge human labor and resources to maintainthe feature library.In contrast,semantic feature engineering can dynamically discover new semantic featuresand optimize feature selection by automatically analyzing the semantic information contained in the data itself,thus reducing dependence on prior knowledge.However,current semantic features still have the problem ofsemantic expression singularity,as they are extracted from a single semantic mode such as word segmentation,character segmentation,or arbitrary semantic feature extraction.This paper extracts features of web requestsfrom dual semantic granularity,and proposes a semantic feature fusion method to solve the above problems.Themethod first preprocesses web requests,and extracts word-level and character-level semantic features of URLs viaconvolutional neural network(CNN),respectively.By constructing three loss functions to reduce losses betweenfeatures,labels and categories.Experiments on the HTTP CSIC 2010,Malicious URLs and HttpParams datasetsverify the proposedmethod.Results show that compared withmachine learning,deep learningmethods and BERTmodel,the proposed method has better detection performance.And it achieved the best detection rate of 99.16%in the dataset HttpParams.

Video-Based Deception Detection with Non-Contact Heart Rate Monitoring and Multi-Modal Feature Selection

Deception detection plays a crucial role in criminal investigation.Videos contain a wealth of information regarding apparent and physiological changes in individuals,and thus can serve as an effective means of deception detection.In this paper,we investigate video-based deception detection considering both apparent visual features such as eye gaze,head pose and facial action unit(AU),and non-contact heart rate detected by remote photoplethysmography(rPPG)technique.Multiple wrapper-based feature selection methods combined with the K-nearest neighbor(KNN)and support vector machine(SVM)classifiers are employed to screen the most effective features for deception detection.We evaluate the performance of the proposed method on both a self-collected physiological-assisted visual deception detection(PV3D)dataset and a public bag-oflies(BOL)dataset.Experimental results demonstrate that the SVM classifier with symbiotic organisms search(SOS)feature selection yields the best overall performance,with an area under the curve(AUC)of 83.27%and accuracy(ACC)of 83.33%for PV3D,and an AUC of 71.18%and ACC of 70.33%for BOL.This demonstrates the stability and effectiveness of the proposed method in video-based deception detection tasks.

Anomaly Detection in Imbalanced Encrypted Traffic with Few Packet Metadata-Based Feature Extraction

In the IoT(Internet of Things)domain,the increased use of encryption protocols such as SSL/TLS,VPN(Virtual Private Network),and Tor has led to a rise in attacks leveraging encrypted traffic.While research on anomaly detection using AI(Artificial Intelligence)is actively progressing,the encrypted nature of the data poses challenges for labeling,resulting in data imbalance and biased feature extraction toward specific nodes.This study proposes a reconstruction error-based anomaly detection method using an autoencoder(AE)that utilizes packet metadata excluding specific node information.The proposed method omits biased packet metadata such as IP and Port and trains the detection model using only normal data,leveraging a small amount of packet metadata.This makes it well-suited for direct application in IoT environments due to its low resource consumption.In experiments comparing feature extraction methods for AE-based anomaly detection,we found that using flowbased features significantly improves accuracy,precision,F1 score,and AUC(Area Under the Receiver Operating Characteristic Curve)score compared to packet-based features.Additionally,for flow-based features,the proposed method showed a 30.17%increase in F1 score and improved false positive rates compared to Isolation Forest and OneClassSVM.Furthermore,the proposedmethod demonstrated a 32.43%higherAUCwhen using packet features and a 111.39%higher AUC when using flow features,compared to previously proposed oversampling methods.This study highlights the impact of feature extraction methods on attack detection in imbalanced,encrypted traffic environments and emphasizes that the one-class method using AE is more effective for attack detection and reducing false positives compared to traditional oversampling methods.

Automatic detection method of bladder tumor cells based on color and shape features

Bladder urothelial carcinoma is the most common malignant tumor disease in urinary system,and its incidence rate ranks ninth in the world.In recent years,the continuous development of hyperspectral imaging technology has provided a new tool for the auxiliary diagnosis of bladder cancer.In this study,based on microscopic hyperspectral data,an automatic detection algorithm of bladder tumor cells combining color features and shape features is proposed.Support vector machine(SVM)is used to build classification models and compare the classification performance of spectral feature,spectral and shape fusion feature,and the fusion feature proposed in this paper on the same classifier.The results show that the sensitivity,specificity,and accuracy of our classification algorithm based on shape and color fusion features are 0.952,0.897,and 0.920,respectively,which are better than the classification algorithm only using spectral features.Therefore,this study can effectively extract the cell features of bladder urothelial carcinoma smear,thus achieving automatic,real-time,and noninvasive detection of bladder tumor cells,and then helping doctors improve the efficiency of pathological diagnosis of bladder urothelial cancer,and providing a reliable basis for doctors to choose treatment plans and judge the prognosis of the disease.

A Power Data Anomaly Detection Model Based on Deep Learning with Adaptive Feature Fusion

With the popularisation of intelligent power,power devices have different shapes,numbers and specifications.This means that the power data has distributional variability,the model learning process cannot achieve sufficient extraction of data features,which seriously affects the accuracy and performance of anomaly detection.Therefore,this paper proposes a deep learning-based anomaly detection model for power data,which integrates a data alignment enhancement technique based on random sampling and an adaptive feature fusion method leveraging dimension reduction.Aiming at the distribution variability of power data,this paper developed a sliding window-based data adjustment method for this model,which solves the problem of high-dimensional feature noise and low-dimensional missing data.To address the problem of insufficient feature fusion,an adaptive feature fusion method based on feature dimension reduction and dictionary learning is proposed to improve the anomaly data detection accuracy of the model.In order to verify the effectiveness of the proposed method,we conducted effectiveness comparisons through elimination experiments.The experimental results show that compared with the traditional anomaly detection methods,the method proposed in this paper not only has an advantage in model accuracy,but also reduces the amount of parameter calculation of the model in the process of feature matching and improves the detection speed.

Few-shot image recognition based on multi-scale features prototypical network

In order to improve the models capability in expressing features during few-shot learning,a multi-scale features prototypical network(MS-PN)algorithm is proposed.The metric learning algo-rithm is employed to extract image features and project them into a feature space,thus evaluating the similarity between samples based on their relative distances within the metric space.To sufficiently extract feature information from limited sample data and mitigate the impact of constrained data vol-ume,a multi-scale feature extraction network is presented to capture data features at various scales during the process of image feature extraction.Additionally,the position of the prototype is fine-tuned by assigning weights to data points to mitigate the influence of outliers on the experiment.The loss function integrates contrastive loss and label-smoothing to bring similar data points closer and separate dissimilar data points within the metric space.Experimental evaluations are conducted on small-sample datasets mini-ImageNet and CUB200-2011.The method in this paper can achieve higher classification accuracy.Specifically,in the 5-way 1-shot experiment,classification accuracy reaches 50.13%and 66.79%respectively on these two datasets.Moreover,in the 5-way 5-shot ex-periment,accuracy of 66.79%and 85.91%are observed,respectively.

Automatic Pavement Crack Detection Based on Octave Convolution Neural Network with Hierarchical Feature Learning

Automatic pavement crack detection plays an important role in ensuring road safety.In images of cracks,information about the cracks can be conveyed through high-frequency and low-fre-quency signals that focus on fine details and global structures,respectively.The output features obtained from different convolutional layers can be combined to represent information about both high-frequency and low-frequency signals.In this paper,we propose an encoder-decoder framework called octave hierarchical network(Octave-H),which is based on the U-Network(U-Net)architec-ture and utilizes an octave convolutional neural network and a hierarchical feature learning module for performing crack detection.The proposed octave convolution is capable of extracting multi-fre-quency feature maps,capturing both fine details and global cracks.We propose a hierarchical feature learning module that merges multi-frequency-scale feature maps with different levels(high and low)of octave convolutional layers.To verify the superiority of the proposed Octave-H,we employed the CrackForest dataset(CFD)and AigleRN databases to evaluate this method.The experimental results demonstrate that Octave-H outperforms other algorithms with satisfactory performance.

Performance Analysis of Machine Learning-Based Intrusion Detection with Hybrid Feature Selection

More businesses are deploying powerful Intrusion Detection Systems(IDS)to secure their data and physical assets.Improved cyber-attack detection and prevention in these systems requires machine learning(ML)approaches.This paper examines a cyber-attack prediction system combining feature selection(FS)and ML.Our technique’s foundation was based on Correlation Analysis(CA),Mutual Information(MI),and recursive feature reduction with cross-validation.To optimize the IDS performance,the security features must be carefully selected from multiple-dimensional datasets,and our hybrid FS technique must be extended to validate our methodology using the improved UNSW-NB 15 and TON_IoT datasets.Our technique identified 22 key characteristics in UNSW-NB-15 and 8 in TON_IoT.We evaluated prediction using seven ML methods:Decision Tree(DT),Random Forest(RF),Logistic Regression(LR),Naive Bayes(NB),K-Nearest Neighbors(KNN),Support Vector Machines(SVM),and Multilayer Perceptron(MLP)classifiers.The DT,RF,NB,and MLP classifiers helped our model surpass the competition on both datasets.Therefore,the investigational outcomes of our hybrid model may help IDSs defend business assets from various cyberattack vectors.

A Lightweight Network with Dual Encoder and Cross Feature Fusion for Cement Pavement Crack Detection

Automatic crack detection of cement pavement chiefly benefits from the rapid development of deep learning,with convolutional neural networks(CNN)playing an important role in this field.However,as the performance of crack detection in cement pavement improves,the depth and width of the network structure are significantly increased,which necessitates more computing power and storage space.This limitation hampers the practical implementation of crack detection models on various platforms,particularly portable devices like small mobile devices.To solve these problems,we propose a dual-encoder-based network architecture that focuses on extracting more comprehensive fracture feature information and combines cross-fusion modules and coordinated attention mechanisms formore efficient feature fusion.Firstly,we use small channel convolution to construct shallow feature extractionmodule(SFEM)to extract low-level feature information of cracks in cement pavement images,in order to obtainmore information about cracks in the shallowfeatures of images.In addition,we construct large kernel atrous convolution(LKAC)to enhance crack information,which incorporates coordination attention mechanism for non-crack information filtering,and large kernel atrous convolution with different cores,using different receptive fields to extract more detailed edge and context information.Finally,the three-stage feature map outputs from the shallow feature extraction module is cross-fused with the two-stage feature map outputs from the large kernel atrous convolution module,and the shallow feature and detailed edge feature are fully fused to obtain the final crack prediction map.We evaluate our method on three public crack datasets:DeepCrack,CFD,and Crack500.Experimental results on theDeepCrack dataset demonstrate the effectiveness of our proposed method compared to state-of-the-art crack detection methods,which achieves Precision(P)87.2%,Recall(R)87.7%,and F-score(F1)87.4%.Thanks to our lightweight crack detectionmodel,the parameter count of the model in real-world detection scenarios has been significantly reduced to less than 2M.This advancement also facilitates technical support for portable scene detection.

Anomaly Detection Method Using Feature Reconstruction Based Knowledge Distillation

In recent years,anomaly detection has attracted much attention in industrial production.As traditional anomaly detection methods usually rely on direct comparison of samples,they often ignore the intrinsic relationship between samples,resulting in poor accuracy in recognizing anomalous samples.To address this problem,a knowledge distillation anomaly detection method based on feature reconstruction was proposed in this study.Knowledge distillation was performed after inverting the structure of the teacher-student network to avoid the teacher-student network sharing the same inputs and similar structure.Representability was improved by using feature splicing to unify features at different levels,and the merged features were processed and reconstructed using an improved Transformer.The experimental results show that the proposed method achieves better performance on the MVTec dataset,verifying its effectiveness and feasibility in anomaly detection tasks.This study provides a new idea to improve the accuracy and efficiency of anomaly detection.

A Self-Adapting and Efficient Dandelion Algorithm and Its Application to Feature Selection for Credit Card Fraud Detection

A dandelion algorithm(DA) is a recently developed intelligent optimization algorithm for function optimization problems. Many of its parameters need to be set by experience in DA,which might not be appropriate for all optimization problems. A self-adapting and efficient dandelion algorithm is proposed in this work to lower the number of DA's parameters and simplify DA's structure. Only the normal sowing operator is retained;while the other operators are discarded. An adaptive seeding radius strategy is designed for the core dandelion. The results show that the proposed algorithm achieves better performance on the standard test functions with less time consumption than its competitive peers. In addition, the proposed algorithm is applied to feature selection for credit card fraud detection(CCFD), and the results indicate that it can obtain higher classification and detection performance than the-state-of-the-art methods.

Two-Layer Attention Feature Pyramid Network for Small Object Detection

Effective small object detection is crucial in various applications including urban intelligent transportation and pedestrian detection.However,small objects are difficult to detect accurately because they contain less information.Many current methods,particularly those based on Feature Pyramid Network(FPN),address this challenge by leveraging multi-scale feature fusion.However,existing FPN-based methods often suffer from inadequate feature fusion due to varying resolutions across different layers,leading to suboptimal small object detection.To address this problem,we propose the Two-layerAttention Feature Pyramid Network(TA-FPN),featuring two key modules:the Two-layer Attention Module(TAM)and the Small Object Detail Enhancement Module(SODEM).TAM uses the attention module to make the network more focused on the semantic information of the object and fuse it to the lower layer,so that each layer contains similar semantic information,to alleviate the problem of small object information being submerged due to semantic gaps between different layers.At the same time,SODEM is introduced to strengthen the local features of the object,suppress background noise,enhance the information details of the small object,and fuse the enhanced features to other feature layers to ensure that each layer is rich in small object information,to improve small object detection accuracy.Our extensive experiments on challenging datasets such as Microsoft Common Objects inContext(MSCOCO)and Pattern Analysis Statistical Modelling and Computational Learning,Visual Object Classes(PASCAL VOC)demonstrate the validity of the proposedmethod.Experimental results show a significant improvement in small object detection accuracy compared to state-of-theart detectors.