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Н Новости

Распознаем беспилотники малых размеров с помощью ИИ

Беспилотные летательные аппараты (БПЛА), или дроны, становятся всё более распространёнными в различных областях — от коммерческой доставки и мониторинга сельскохозяйственных угодий до разведывательных миссий и обеспечения безопасности.

Однако, по мере роста их числа, возрастает и сложность задачи их распознавания, идентификации и трекинга, особенно когда речь идёт о малых дронах.

Сложно выявить малые дроны, которые благодаря своим компактным размерам и высокой манёвренности могут легко уклоняться от обнаружения радиочастотными и радарными методами. Эта задача становится ещё более сложной в условиях городской застройки или на местности с плотной растительностью.

Привет, Хабр! Меня зовут Кирилл Кухарев и я разработчик в компании Raft. В этой статье я расскажу про разработку системы для детекции и трекинга БПЛА небольших размеров с помощью модели ИИ.

О чем пойдет речь в статье:

Расскажу о том, как формировался набор данных для обучения;
Опишу, по какому принципу выбирались модели из всего многообразия архитектур CV;
Поделюсь, как происходил процесс обучения;
Рассмотрю, какие метрики использовались для оценки качества работы моделей;
Затрону принцип работы алгоритма;
Приведу примеры сложных случаев и дальнейшие планы по улучшению работы алгоритма.

Откуда взялись данные и что с ними делали?

При решении конкретной узко-направленной задачи в компьютерном зрении на первом этапе всегда возникает вопрос, на чем обучать модель? Первое, что приходит в голову - это поискать общедоступные наборы данных на Kaggle или других профильных сайтах. Так я и поступил. Получилось найти несколько общедоступных наборов данных:

Набор данных БПЛА, созданный Mehdi Ozel в 2019 г. и
опубликованный на Kaggle. Этот набор данных состоит из 1359
изображений дронов и аннотаций к ним (txt, xml). Размер набора данных
составляет 725.28 Мбайт.
Набор данных Amateur Unmanned Air Vehicle Detection
опубликованный на Mendeley Data. Этот набор данных содержит
около 4500 изображений любительских дронов. Размер набора данных
составляет 157 Мбайт.
Набор данных с конкурса «Birds-vs-Drones».
Содержит 104426 аннотированных изображений
беспилотников.

Во втором столбце таблицы представлена статистика по количеству беспилотников разного размера в общедоступных наборах данных. Размеры изображений 1920×1080 px.

Площадь БПЛА на изображении, px	Количество БПЛА, публичный набор данных	Количество БПЛА, авторский + публичный набор данных	Размер БПЛА
[1, 10]	3534	73321	~3x3
(10, 50]	17977	149012	~5x5
(50, 100]	17463	56254	~10x10
(100, 500]	50934	114019	~22x22
(500, 1000]	10086	16590	~100x100
>1000	10291	17898	>100x100
Итого	110285	427094

Проанализировав таблицу можно сказать, что в публичных наборах данных содержится большое количество изображений беспилотников, размер которых больше 1000 пикселей. Следовательно, такие изображения не соответствуют требованиям для решения поставленной задачи (определение БПЛА небольших размеров). Для повышения качества предсказания модели было принято решение увеличить набор данных путём формирования собственных изображений для обучения. Для этого было отснято 13 видеороликов с беспилотником, летающим в разных локациях (городская и сельская местность), при разных погодных условиях (дождь, снег, солнце, пасмурно) и на разном удалении от камеры. Общая продолжительность отснятого материала составила 19 часов. Для записи видео использовались две камеры HIKVISION HiWatch (модель DSI200 (C) 2.8 mm, модель DSI200 (B) 4mm) с разрешением в 1920x1080 px и скоростью записи кадров в 25 фпс. В исследовании использовались три модели дронов: DJI Phantom 4 Pro, DJI Mini 2 Fly More Combo, ZALA Z-16 VTOL. Далее с помощью скрипта на Python видео были проаннотированы в формат XML в полуавтоматическом режиме и разделены на кадры. Распределение количества беспилотников на изображении по размеру в общем наборе данных представлено в столбце 3 таблицы 1. Как можно заметить количество беспилотников меньшего размера в общем наборе данных стало гораздо больше.

Что обучали ?

Следующий этап - это выбор архитектуры модели для обучения. Прежде чем перейти к рассмотрению архитектур стоит сказать, что есть два вида моделей детекции.

Двухэтапные (two-stage) детекторы. Как можно заметить из названия, процесс детекции происходит в два шага. На первом шаге выделяются регионы изображения, которые представляют особый интерес для дальнейшего анализа и обработки (regions of interest, ROI). На втором шаге выбранные регионы анализируются классификатором для определения принадлежности к заданным классам и регрессором, который уточняет местоположение ограничивающих рамок.
Одноэтапные (one-stage) детекторы. Подход, который заключается в предсказании координат и характеристик (класс, степень уверенности) фиксированного набора ограничивающих рамок.

Поскольку стоит задача детектирования объектов в режиме реального времени, то главными аспектами является скорость и точность обработки изображений. При сравнении двухэтапных и одноэтапных детекторов разумеется в скорости выигрывают одноэтапные детекторы. После того как определились с видом моделей стоит выделить еще два критерия, на основании которых отбирались модели:

Оценка скорости и качества работы модели детекции на общедоступных наборах данных, таких как MS COCO, PASCAL VOC.
Возможность обучить модель на доступных вычислительных мощностях. (Все вычисления производились на NVIDIA DGX-1)

Учитывая вышеуказанные требования были выбраны архитектуры детекторов семейства YOLO и SSD. Поскольку данная статья не посвящена рассмотрению принципов и описанию работы YOLO (You Only Look Once) и SSD (Single Shot Detector), то я лишь графически укажу, как каждая модель обрабатывает входное изображение.

Принцип работы модели SSD

Принцип работы модели YOLO (на примере YOLOv5)

В семействе YOLO были выбраны несколько версий моделей - YOLOv5 (n, s, m), YOLOv8 (n, s, m), GELAN-C и GELAN-E (модификации YOLOv9).

Модель SSD обучалась без изменений архитектуры с использованием чекпоинтов и регуляризации для предотвращения переобучения. Для модели YOLO был изменен размер входного изображения с 640 на 1280 для лучшего захвата мелких деталей. Также добавлены дополнительные слои и увеличено повторение слоев C2f (Cross Stage Partial Networks with Bottleneck) на разных уровнях пирамиды признаков. Также был произведен тюнинг гиперпараметров модели для их оптимизации. В качестве тюнинга каждая из версий YOLO обучалась 5 эпох с разными гиперпараметрами. Для примера показан сгенерированный после тюнингования файл с наилучшими гиперпараметрами модели YOLOv8n.

# 150/150 iterations complete ✅
# Best fitness hyperparameters are printed below.

lr0: 0.00652
lrf: 0.00402
momentum: 0.90918
weight_decay: 0.00039
warmup_epochs: 3.44701
warmup_momentum: 0.70386
box: 7.82823
cls: 0.63425
dfl: 1.40253
hsv_h: 0.0169
hsv_s: 0.67409
hsv_v: 0.19965
translate: 0.08151
scale: 0.4757
fliplr: 0.56036
mosaic: 0.9791

Далее каждая модель YOLO была обучена с учетом чекпоинтов и с размером батч пакета равным 32.

Что получили и как оценили?

После обучения моделей необходимо было оценить, насколько хорошо модели могут определять беспилотник на изображении. Для оценки эффективности работы алгоритмов использовались метрики IoU, Precision, Recall, [email protected] и [email protected]:0.95. Сначала сравнивались обученные модели внутри одной версии, а затем между версиями. Я лишь представлю результаты сравнения лучших моделей между версиями YOLO на валидационной выборке.

Название модели	IoU	Порог уверенности	Precision	Recall	F1-мера	[email protected]	[email protected]:0.95
YOLOv5n	0,5	0,2	0,84	0,61	0,71	0,73	0,33
YOLOv8n	0,3	0,2	0,57	0,35	0,43	0,43	0,15
GELAN-C	0,25	0,3	0,71	0,31	0,43	0,50	0,19
SSD	0,3	0,3	0,53	0,44	0,48	0,36	0,12

Однако определить качество работы модели, основываясь только на метриках F-меры и mAP недостаточно, тем более на валидационной выборке. Необходимо было изучить качество обнаружения беспилотников разных размеров на тестовой выборке.

Сравнение точности и полноты моделей в зависимости от размера БПЛА

Можно сказать, что наилучшая точность для беспилотников меньшего размера (до 100 px) у модели GELAN-C, а наилучшая полнота у YOLOv8n. Если сравнивать одновременно и по точности, и по полноте, то лучшие результаты на тестовой выборке получились у YOLOv8n. Следовательно в качестве базовой модели для создания системы определения БПЛА в реалтайме использовалась YOLOv8n.

И будет хорошо определять?

Разумеется нет, при рассмотрении движущихся объектов в видеозаписях с камер видеонаблюдения или в режиме реального времени иногда возникают ситуации, когда объект на соседних кадрах может детектироваться прерывисто или вовсе может быть не распознанным. Для таких случаев существуют трекеры, которые могут отслеживать как один, так и несколько объектов одновременно. Трекер включает в себя последовательную оценку положения, размера и ориентации объекта на нескольких подряд идущих кадрах. В процессе изучения трекеров вместе с моделью YOLOv8n были протестированы трекеры BotSORT, ByteTrack и DeepSORT.

Размер БПЛА	BotSORT		ByteTrack		DeepSORT
	Precision	Recall	Precision	Recall	Precision	Recall
[1, 20]	0,56	0,52	0,58	0,54	0,61	0,57
(20, 50]	0,67	0,59	0,69	0,61	0,69	0,63
(50, 100]	0,78	0,71	0,78	0,74	0,77	0,76
(100, 200]	0,89	0,93	0,90	0,92	0,91	0,91
(200, 500]	0,97	0,93	0,96	0,95	0,97	0,96
>500	0,98	0,96	0,98	0,96	0,98	0,97
Итого	0,74	0,67	0,78	0,74	0,82	0,78

Наилучших результатов удалось достичь с трекером DeepSORT. В среднем, для каждого размера беспилотника точность повысилась на 3-4 п. п. Полнота повысилась, в среднем, на 4-5 п. п. При добавлении трекера акцент делался на повышение значения полноты, особенно для небольших размеров БПЛА. Для определения дронов в режиме реального времени был реализован следующий алгоритм.

Принцип работы системы определения БПЛА

На вход системе поступают кадры с видеокамеры. Далее происходит изменение размера изображения до 1080x1080 пикселей, чтобы подать это изображение на вход модели нейронной сети. Если предсказанные значения координат рамки и класса объекта меньше порогового значения достоверности, то ограничивающая рамка не отображается. Если модель определила беспилотник на пяти подряд идущих кадрах со значением

IoU >= 0.2 , то запускался трекер. После запуска удаляются ограничивающие рамки детектора и отображаются координаты ограничивающей рамки трекера, а также маршрут беспилотника в видеопотоке.

При инференсе системы скорость обработки 1 кадра составляла, в среднем, 150 мс (~6 фпс). Большую часть времени занимала детекция объектов, так как скорость детекции была обратно пропорциональной количеству БПЛА на изображении. Для оптимизации системы модель YOLO была переведена в формат ONNX и адаптирована для работы на графическом процессоре. В результате скорость обработки одного изображения сократилась до 25-30 мс(~32 фпс).

Какие есть нюансы?

Не смотря на то, что в большинстве случаев система точно определяет беспилотник небольших размеров на изображении, все же существуют случаи, когда детектор теряется и не может распознать дрон. К таким ситуациям можно отнести:

Плохая освещенность территории
В кадр попала только часть беспилотника
Размер БПЛА слишком маленький
Цвет БПЛА сливается с задним фоном

Для решения проблемы детекции в условиях плохой освещённости в наборе данных присутствуют изображения с дроном в инфракрасном режиме. При условии, что видеокамера поддерживает инфракрасный режим, проблема плохой освещённости будет отсутствовать.

Сравнение детекции беспилотника в обычном и инфракрасном режиме

В случае, когда объект попадает в кадр неполностью достаточно сложно однозначно отделить является ли он беспилотником или нет. В кадре должно находиться не менее 70% объекта для однозначного определения БПЛА.

Модуль однозначно определяет БПЛА размером не меньше 7x7 пикселей с точностью 83%. Затем, со снижением размера дрона, точность детекции начинает резко снижаться. Это связано с тем, что модель не может извлечь достаточное количество признаков, которые бы соответствовали именно дрону. Решением такой проблемы является камера с оптическим зумом для увеличения размеров подозрительного объекта.

Слева птица, справа БПЛА, но определяются одинаково

Цвет беспилотника иногда может совпадать с цветом заднего фона.

Детектор не смог определить дрон на уровне окон пятого этажа.

Однако перечисленные ситуации были решены с помощью трекера при определении траектории движения объекта в видеопотоке.

Выводы

В процессе разработки системы был собран набор данных с беспилотниками, в котором содержится > 400 тыс. аннотированных изображений, обучены модели детекции и трекинга объектов, решены проблемные случаи.

Работа по улучшению системы не заканчивается. На данный момент ведется обучение моделей YOLOv10, RT-DETR, поиск более совершенных трекеров и оптимизация алгоритма работы системы.

Исходный код программы для полуавтоматической разметки видео, обучения моделей YOLO и SSD расположен тут.

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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