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Классификация облака точек с ограниченными данными: воксели и сиамские сети

Приветствую читателей Хабра!

С момента моего дебюта (https://habr.com/ru/articles/765230/) на этой платформе многое изменилось, в том числе и моя карьера. Благодаря статье меня заметила компания и теперь, будучи инженером-исследователем в компании "Geogracom", я столкнулся с непростой задачей, которая заставила изучить новые для себя техники и архитектуры.
В этой статье мы рассмотрим подход к решению задачи классификации облака точек, основанный на использовании воксельного представления и сиамских нейронных сетей с 3D свертками. Задача стала особенно актуальной, когда столкнулся с необходимостью классифицировать данные, имея всего 10 примеров для каждого класса, что существенно ограничивало применение традиционных методов машинного обучения.
Надеюсь многим будет интересно и полезно!

История задачи

В нашем проекте мы столкнулись с задачей, которая на первый взгляд казалась довольно простой: необходимо было классифицировать объекты по части большого файла формата LAS, распределяя их по трем классам - провода, деревья и мосты, имея всего по 10 примеров для каждого класса. Сразу отмечу, что с классификацией проводов сложностей не возникло благодаря их характерным особенностям (очень маленькое количество точек на один объект), однако деревья и мосты "кинули вызов" из-за их морфологического разнообразия и часто визуального сходства.

Использование классических подходов, основанных на статистических характеристиках — среднем значении, дисперсии, плотности распределения точек и тд — не принесло ожидаемых результатов. Разнообразие форм деревьев и схожесть некоторых мостов с ними существенно усложнило задачу, до такой степени, что даже я периодически не мог классифицировать объекты на основе представленных данных.

Первоначально я не рассматривал возможность использования нейронных сетей из-за очень ограниченного объема данных. Столкнувшись с неэффективностью традиционных методов и ограниченными сроками, я задался вопросом о возможности обучения нейронной сети на таком малом количестве примеров, вспомнив, что по нескольким фотографиям человека учат сеть его идентифицировать.

В ходе "гуглинга" я обнаружил, что сиамские архитектуры уже успешно применяются для решения подобных задач, благодаря их способности эффективно работать с малым объемом данных. Вспомнил о 3D свертке и было принято решение опробовать данный метод.

Но оставался еще один вопрос - разное количество точек в разных объектах для классификации. Эту проблему удалось решить с помощью перехода к воксельному представлению, напоминая знакомые концепции обработки изображений в работе с трехмерными данными и значительно упростив процесс классификации.

А теперь расскажу подробнее об этом и покажу реализацию в коде.

Что такое воксели?

Воксели, или объемные пиксели, представляют собой трехмерные аналоги двухмерных пикселей, которые используются в графике и обработке изображений. Это маленькие кубики, которые в совокупности формируют трехмерное пространство, позволяя представить объемные данные в дискретизированной форме.
Воксельное представление позволяет эффективно анализировать сложные трехмерные структуры, делая его идеальным для работы с облаками точек, где требуется дискретизация непрерывного трехмерного пространства. Этот подход значительно упрощает обработку и анализ трехмерных данных, обеспечивая единообразную и упорядоченную структуру для последующего анализа и визуализации.

Воксель (трехмерный пиксель)

Разрешение воксельной сетки (разный grid size)

Вроде не сложно для понимания. Думаю, что все мы хотя бы раз встречались с таким представлением данных (Любителям minecraft привет).
С вокселями разобрались. Теперь давайте посмотрим в коде переход от point cloud в воксели и сохраним результат в формате ply для наглядности.
Нам понадобятся понадобятся библиотеки: laspy, open3d, torch, numpy. Минимальный джентльменский набор при работе с point cloud)))

Код

Функции

def read_las_file(file_path):
    """
    Читает файл LAS и возвращает координаты точек.
    """
    
    with laspy.open(file_path) as file:
        las = file.read()
        points = np.vstack((las.x, las.y, las.z)).transpose()
    return points

def normalize_points(points):
    """
    Нормализует координаты точек, помещая их в единичный куб.
    """

    min_point = np.min(points, axis=0)
    max_point = np.max(points, axis=0)
    normalized_points = (points - min_point) / (max_point - min_point)
    return normalized_points

def voxelize(points, grid_size):
    """
    Преобразует точки в воксели с учетом размера сетки.
    """

    normalized_points = normalize_points(points)


    indices = np.floor(normalized_points * grid_size).astype(int)
    indices = np.clip(indices, 0, grid_size - 1)  

    unique_voxels = np.unique(indices, axis=0)
    return unique_voxels

def create_voxel_cubes(voxels, voxel_size=1):
    """
    Создает маленькие кубы для визуализации каждого вокселя.
    """

    cubes = []
    for voxel in voxels:
        center = voxel * voxel_size
        cube = o3d.geometry.TriangleMesh.create_box(width=voxel_size,
                                                    height=voxel_size,
                                                    depth=voxel_size)
        cube.translate(center - np.array([voxel_size/2, voxel_size/2, voxel_size/2]))
        cubes.append(cube)
    return cubes

def save_as_ply(cubes, file_name):
    """
    Сохраняет воксельные кубы в файл PLY.
    """

    mesh = o3d.geometry.TriangleMesh()
    for cube in cubes:
        mesh += cube
    o3d.io.write_triangle_mesh(file_name, mesh)

Основная часть

input_file_path = 'input_path'
output_file_path = 'output_path'
grid_size = 100

files = [f for f in os.listdir(input_file_path) if f.endswith('.las')]

for i in files:
  points = read_las_file(os.path.join(input_file_path, i))
  voxels = voxelize(points, grid_size=grid_size)
  cubes = create_voxel_cubes(voxels)

  base = os.path.splitext(i)[0]+'.ply'
  output_path = os.path.join(output_file_path, base)

  save_as_ply(cubes, output_path)

Результат

В итоге мы перешли от point cloud в воксели

point cloud

voxels

Сиамские нейронные сети

Общее описание и архитектура

Сиамская нейронная сеть – это тип архитектуры, включающей две или более идентичных подсети с одинаковыми параметрами, обновляемыми зеркально. Эта конфигурация предназначена для оценки сходства входных данных на основе их признаков. В отличие от традиционных нейронных сетей, которые требуют обновления при добавлении новых классов и большого объема данных для обучения, сиамские сети изучают функцию сходства, позволяя классифицировать новые классы данных без повторного обучения сети. Это делает их особенно полезными в задачах, где требуется гибкость и эффективность при ограниченном наборе данных.

Схематичная архитектура сиамской нейронной сети

Функция потерь Triplet Loss

Давайте начнем с аналогии. По крайней мере мне было проще понять именно так. Отмечу, что на схеме выше была представлена сеть с двумя подсетями, но далее буду писать про сеть с тремя подсетями.

Представьте, что вы участвуете в соревновании по бегу с двумя друзьями, где один друг всегда должен финишировать раньше другого. Ваша задача — максимизировать расстояние между вторым и третьим бегунами, сохраняя при этом первого ближе к себе. В контексте сиамских сетей, Triplet Lossработает аналогично, где "бегуны" — это элементы данных: "anchor" (аналог вас), "позитивный" пример (ваш друг, который должен быть ближе) и "негативный" пример (друг, от которого нужно оторваться).

Визуальное представление из оригинальной статьи FaceNet Paper 2015

Формула функции потерь Triplet Loss в контексте нейронных сетей выражается следующим образом:

$L(a, p, n) = max\{0, d(a, p) - d(a, n) + margin\}$

где:

L(a, p, n) обозначает потерю для тройки: anchor (a), позитивный (p) и негативный пример (n)
d(a, p) и d(a, n) представляют собой расстояния (обычно Евклидовы) между anchor и позитивным примером и между анкером и негативным примером соответственно.
margin (порог) — это гиперпараметр, задающий минимальное расстояние, которое должно быть между позитивными и негативными парами.

Элементы, влияющие на обучение и настраиваемые параметры:

Расстояние d: выбор функции расстояния влияет на способ измерения различий между примерами.
Margin: пороговое значение, которое определяет, насколько далеко негативные примеры должны быть от анкера по сравнению с позитивными примерами. Больший margin способствует увеличению различий между классами в пространстве признаков.

Тут так же видно, что нет сложных формул, поэтому понять достаточно просто. Меня это очень удивило, что столь простая идея (в плане архитектуры и функции потерь) работает настолько хорошо. Не большой спойлер - модель после обучения не ошибается на валидации, на тесте и в процессе эксплуатации, по крайней мере "пока что".

Реализация нейронной сети

Теперь давайте посмотрим на реализацию нейронной сети и на цикл обучения. Замечу, что сама по себе сеть примитивная, но вся красота заключается именно в цикле обучения и в функции потерь.

Функции

def train_epoch(model, dataloader, loss_fn, optimizer, device):
    
    model.train()
    running_loss = 0.0

    for data in dataloader:
        anchor, positive, negative = [d.to(device) for d in data]

        optimizer.zero_grad()

        anchor_output = model(anchor)
        positive_output = model(positive)
        negative_output = model(negative)

        loss = loss_fn(anchor_output, positive_output, negative_output)
        loss.backward()
        optimizer.step()

        running_loss += loss.item()

    return running_loss / len(dataloader)

def validate_epoch(model, dataloader, loss_fn, device):
    
    model.eval()
    running_loss = 0.0
    correct = 0
    total = 0

    with torch.no_grad():
        for data in dataloader:
            anchor, positive, negative = [d.to(device) for d in data]
            anchor_output = model(anchor)
            positive_output = model(positive)
            negative_output = model(negative)

            loss = loss_fn(anchor_output, positive_output, negative_output)
            running_loss += loss.item()

            total += anchor.size(0)
            correct += (torch.norm(anchor_output - positive_output, dim=1) < 
                        torch.norm(anchor_output - negative_output, dim=1)).sum().item()

    accuracy = 100 * correct / total
    return running_loss / len(dataloader), accuracy

def log_to_file(log_path, epoch, train_loss, val_loss, val_accuracy):

    with open(log_path, "a") as log_file:
        log_file.write(f"Epoch {epoch}, Train Loss: {train_loss}, Validation Loss: {val_loss}, Validation Accuracy: {val_accuracy}%\n")

def save_model(model, epoch, save_path="model_checkpoint"):

    if not os.path.exists(save_path):
        os.makedirs(save_path)
    torch.save(model.state_dict(), os.path.join(save_path, f"model_epoch_{epoch}.pth"))

Архитектура

class Siamese3DNetwork(nn.Module):
    def __init__(self, grid_size):

        super(Siamese3DNetwork, self).__init__()

        self.conv_layers = nn.Sequential(
            nn.Conv3d(1, 32, kernel_size=3, stride=1, padding=1),
            nn.ReLU(),
            nn.MaxPool3d(kernel_size=2, stride=2),
            
            nn.Conv3d(32, 64, kernel_size=3, stride=1, padding=1),
            nn.ReLU(),
            nn.MaxPool3d(kernel_size=2, stride=2),
            
            nn.Conv3d(64, 128, kernel_size=3, stride=1, padding=1),
            nn.ReLU(),
            nn.MaxPool3d(kernel_size=2, stride=2)
        )

        self.flattened_size = 128 * (grid_size // 8) ** 3

        self.fc_layers = nn.Sequential(
            nn.Linear(self.flattened_size, 512),
            nn.ReLU(),
            nn.Linear(512, 256)
        )

    def forward(self, x):
      
        x = self.conv_layers(x)
        x = x.view(-1, self.flattened_size) 
        x = self.fc_layers(x)
        return x

Цикл обучения

input_file_path = 'input_path'
grid_size = 100
log_path = 'log_path.txt'
batch_size = 8
num_epochs = 30

device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')

dataset = VoxelTripletDataset(root_dir=input_file_path, grid_size=grid_size)

train_size = int(0.8 * len(dataset))
val_size = len(dataset) - train_size

train_dataset, val_dataset = random_split(dataset, [train_size, val_size])

train_loader = DataLoader(train_dataset, batch_size=batch_size, shuffle=True)
val_loader = DataLoader(val_dataset, batch_size=batch_size, shuffle=False)

model = Siamese3DNetwork(grid_size)

triplet_loss = nn.TripletMarginLoss(margin=9.0, p=2)

optimizer = torch.optim.Adam(model.parameters(), lr=0.001)

model.to(device)

for epoch in range(num_epochs):
    train_loss = train_epoch(model, train_loader, triplet_loss, optimizer, device)
    val_loss, val_accuracy = validate_epoch(model, val_loader, triplet_loss, device)
    
    print(f"Epoch {epoch+1}, Train Loss: {train_loss}, Validation Loss: {val_loss}, Validation Accuracy: {val_accuracy}%")
    log_to_file(log_path, epoch+1, train_loss, val_loss, val_accuracy)
    
    save_model(model, epoch+1)

Результаты

Проведенные эксперименты и тестирование выбранной архитектуры наглядно мне показали эффективность и скорость. Модель демонстрирует великолепные результаты, точно классифицируя как валидационный, так и тестовый наборы данных без ошибок. Отдельно стоит отметить высокую скорость предсказаний даже при работе на процессоре, что является важным критерием для компании

Выводы

Весь процесс от исследования до реализации занял несколько дней, но результаты оказались действительно впечатляющими как в плане точности, так и скорости. В ходе работы я рассмотрел несколько альтернативных подходов для работы с небольшим объемом данных. Хотя некоторые из них показались сложными для быстрого изучения и написания, они остаются в запасе для реализации. Уверен, что встречусь еще ни раз с задачами, где простые решения не принесут желаемого результата, и тогда придется обратиться к более сложным методам. Буду рад, если кого-то натолкнул на мысли в их собственных проектах. Надеюсь, что вам было интересно и полезно. Уверен, что это не последняя моя статья на Хабре :-) Самое лучшее для закрепления материала- это попытаться объяснить кому-то.

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09.10.25 11:05 marcushenderson624

Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
09.10.25 11:05 marcushenderson624

Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
09.10.25 11:05 marcushenderson624

Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
09.10.25 11:05 marcushenderson624

Bitcoin Recovery Testimonial After falling victim to a cryptocurrency scam group, I lost $354,000 worth of USDT. I thought all hope was lost from the experience of losing my hard-earned money to scammers. I was devastated and believed there was no way to recover my funds. Fortunately, I started searching for help to recover my stolen funds and I came across a lot of testimonials online about Capital Crypto Recovery, an agent who helps in recovery of lost bitcoin funds, I contacted Capital Crypto Recover Service, and with their expertise, they successfully traced and recovered my stolen assets. Their team was professional, kept me updated throughout the process, and demonstrated a deep understanding of blockchain transactions and recovery protocols. They are trusted and very reliable with a 100% successful rate record Recovery bitcoin, I’m grateful for their help and highly recommend their services to anyone seeking assistance with lost crypto. Contact: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Email: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
11.10.25 04:41 luciajessy3

Don’t be deceived by different testimonies online that is most likely wrong. I have made use of several recovery options that got me disappointed at the end of the day but I must confess that the tech genius I eventually found is the best out here. It’s better you devise your time to find the valid professional that can help you recover your stolen or lost crypto such as bitcoins rather than falling victim of other amateur hackers that cannot get the job done. ADAMWILSON . TRADING @ CONSULTANT COM / WHATSAPP ; +1 (603) 702 ( 4335 ) is the most reliable and authentic blockchain tech expert you can work with to recover what you lost to scammers. They helped me get back on my feet and I’m very grateful for that. Contact their email today to recover your lost coins ASAP…
11.10.25 10:44 Tonerdomark

A thief took my Dogecoin and wrecked my life. Then Mr. Sylvester stepped in and changed everything. He got back €211,000 for me, every single cent of my gains. His calm confidence and strong tech skills rebuilt my trust. Thanks to him, I recovered my cash with no issues. After months of stress, I felt huge relief. I had full faith in him. If a scam stole your money, reach out to him today at { yt7cracker@gmail . com } His help sparked my full turnaround.
12.10.25 01:12 harristhomas7376

"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
12.10.25 01:12 harristhomas7376

"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
12.10.25 19:53 Tonerdomark

A crook swiped my Dogecoin. It ruined my whole world. Then Mr. Sylvester showed up. He fixed it all. He pulled back €211,000 for me. Not one cent missing from my profits. His steady cool and sharp tech know-how won back my trust. I got my money smooth and sound. After endless worry, relief hit me hard. I trusted him completely. Lost cash to a scam? Hit him up now at { yt7cracker@gmail . com }. His aid turned my life around. WhatsApp at +1 512 577 7957.
12.10.25 21:36 blessing

Writing this review is a joy. Marie has provided excellent service ever since I started working with her in early 2018. I was worried I wouldn't be able to get my coins back after they were stolen by hackers. I had no idea where to begin, therefore it was a nightmare for me. However, things became easier for me after my friend sent me to [email protected] and +1 7127594675 on WhatsApp. I'm happy that she was able to retrieve my bitcoin so that I could resume trading.
13.10.25 01:11 elizabethrush89

God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
13.10.25 01:11 elizabethrush89

God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
14.10.25 01:15 tyleradams

Hi. Please be wise, do not make the same mistake I had made in the past, I was a victim of bitcoin scam, I saw a glamorous review showering praises and marketing an investment firm, I reached out to them on what their contracts are, and I invested $28,000, which I was promised to get my first 15% profit in weeks, when it’s time to get my profits, I got to know the company was bogus, they kept asking me to invest more and I ran out of patience then requested to have my money back, they refused to answer nor refund my funds, not until a friend of mine introduced me to the NVIDIA TECH HACKERS, so I reached out and after tabling my complaints, they were swift to action and within 36 hours I got back my funds with the due profit. I couldn’t contain the joy in me. I urge you guys to reach out to NVIDIA TECH HACKERS on their email: [email protected]
14.10.25 08:46 robertalfred175

CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
14.10.25 08:46 robertalfred175

CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
14.10.25 08:46 robertalfred175

CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
15.10.25 18:07 crypto

Cryptocurrency's digital realm presents many opportunities, but it also conceals complex frauds. It is quite painful to lose your cryptocurrency to scam. You can feel harassed and lost as a result. If you have been the victim of a cryptocurrency scam, this guide explains what to do ASAP. Following these procedures will help you avoid further issues or get your money back. Communication with Marie ([email protected] and WhatsApp: +1 7127594675) can make all the difference.
15.10.25 21:52 harristhomas7376

"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
15.10.25 21:52 harristhomas7376

"In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

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