Integrating Machine Learning Algorithms for

Intelligent Face Recognition in Robots

1st Anurag Kumar Srivastava
Computer Science and
Engineering
Greater Noida Institute of
Technology (Engineering
Institute)
Greater Noida, India
[email protected]

XXX-X-XXXX-XXXX-X/XX/$XX.00 ©20XX IEEE

 Abstract— in this era one of the major challenges of refresh mechanism optimizes real-time performance. The
accuracy and Real-time recognition system stands as an system operates using two types of datasets: a pre-existing
indispensable pillar in modern surveillance with intelligence dataset of human faces, allowing automatic recognition of
identity verification. However reconciling high precision with known individuals, and a real-time face recognition
computational efficiency remains a formidable challenge. This mechanism for detecting new individuals. When a person
study rigorously evaluates four cutting-edge deep learning- appears in front of the system, it checks the Azure Cloud
based algorithms Dlib (HOG + CNN), MTCNN, InsightFace database for a match. If the face is not found, the system
and MobileFaceNet within an optimized framework for real-
captures an image along with live location data and assigns a
time facial detection and recognition. Each algorithm
undergoes meticulous scrutiny based on recognition accuracy,
unique ID. If the face already exists in the database, the
detection efficacy and computational resource allocation with system greets the individual using a voice message such as
artificial intelligence serving as a catalyst for enhanced “Hi, XYZ.” Users have the flexibility to update or change
adaptability and performance. InsightFace emerges as the their user ID and name for voice interaction. The system
pinnacle of accuracy (98.8%) rendering it ideal for high incorporates efficient face recognition algorithms to deliver
security domains. MobileFaceNet strikes a delicate equilibrium fast and accurate results while ensuring secure data handling
between speed and accuracy (96.4%) making it well-suited for and enhanced image quality.
embedded systems. Dlib (97.9%) presents a lightweight yet
robust solution for CPU-based recognition, whereas MTCNN
Each algorithm evaluated has specific advantages To
(95%) excels in detecting faces under adverse conditions such maintain high recognition accuracy, it is essential to reduce
as occlusions and suboptimal lighting. The seamless infusion of blur distortion and preserve image fidelity. Azure Cloud’s
deep learning and AI fortifies these models augmenting their AI-powered image enhancement and robust data storage
capacity for nuanced facial recognition across diverse real- features improve system resilience in handling low-
world applications. This study of deep learning and AI in resolution or obstructed imagery. Security vulnerabilities are
refining real-time facial recognition seamlessly bridging the addressed by implementing anti-spoofing countermeasures to
chasm between computational agility and resource constraints. prevent identity fraud using printed images or digitally
Through an exhaustive analysis of Dlib, MTCNN, InsightFace generated facial representations. This study benchmarks the
and MobileFaceNet. it furnishes invaluable insights for selected deep learning algorithms using standardized face
selecting the most sophisticated and computationally efficient recognition datasets, evaluating detection accuracy,
facial recognition paradigm. computational latency, and resource utilization. The results
indicate that InsightFace achieves the highest accuracy
Keywords—Deep Learning, Artificial Intelligence, Dlib, (99%), while MobileFaceNet provides the best trade-off
MTCNN, InsightFace, MobileFaceNet.
between computational efficiency and recognition precision.
Dlib, despite its lightweight nature, struggles with non-
I. INTRODUCTION frontal poses, whereas MTCNN significantly improves face
The convergence of Deep Learning and human computer localization and alignment. The findings highlight that
interaction has made real-time facial recognition a vital MobileFaceNet and Dlib are ideal for real-time edge
component of face recognition, intelligent surveillance and computing, while InsightFace, combined with Azure Cloud
authentication. A persistent challenge despite its increasing services, is best for security-critical infrastructures. This
use is guaranteeing high precision recognition while study presents a high-precision and adaptable face
maximizing computational efficiency especially in recognition framework that meets modern market demands
environments with limited resources like embedded systems while ensuring computational robustness.
and edge devices. Four well-known deep learning algorithms
are critically examined in this study to determine their ability II. LITERATURE REVIEW
to detect and recognize in real-time integrate seamlessly with
According to Schroff, F. [1], FaceNet introduces a
Azure databases and deployed on Windows and Raspberry
unified embedding for face recognition and clustering. The
Pi platforms. A primary obstacle in real-time face
paper proposes a deep learning model that maps face images
recognition systems is the delicate balance between
into a compact Euclidean space, enabling accurate face
computational efficiency and accuracy. In dynamic
verification and clustering. The model learns a 128-
environments where facial features change over time as a
dimensional embedding using a triplet loss function,
result of aging changing lighting and occlusions traditional
ensuring that similar faces are positioned closer together in
approaches fall short. Furthermore low-latency processing is
the embedding space while dissimilar faces are pushed apart.
essential to enabling smooth live video analysis without
FaceNet achieves state-of-the-art performance on large-scale
causing delays in recognition. Amidst these limitations
face datasets and is widely used in real-world applications.
hardware tools specifically, Raspberry Pi play a crucial role
According to Zhang, K. [2], Multi-task Cascaded
by providing an easily accessible yet effective platform for
Convolutional Networks (MTCNN) are introduced as a
implementing edge based facial recognition. In addition to
framework for joint face detection and alignment. The model
increasing offloading complex calculations to Azure Cloud
employs a three-stage cascaded structure with convolutional
Services reduces local processing overhead and guarantees
neural networks (CNNs) to perform hierarchical face
safe remote data access. The main model working high level
detection. MTCNN efficiently detects faces under varying
overview detailing our process, mathematical approach, and
lighting conditions, occlusions, and complex backgrounds
the algorithms implemented. The system utilizes Azure
while simultaneously aligning facial landmarks. The method
Cloud for data fetching and storage, along with a GPS
improves detection accuracy and robustness compared to
package to capture live location coordinates (latitude and
traditional face detection approaches. According to Deng, J.
longitude) with images. Several image processing libraries
[3], ArcFace introduces an additive angular margin loss
and packages are integrated to enhance image quality,
function to enhance face recognition accuracy. The method
improve clarity, and ensure high-resolution outputs. An auto-
improves intra-class compactness and inter-class face recognition. The method increases inter-class
separability, leading to superior recognition performance. separability by enforcing a cosine margin in the loss
ArcFace builds upon the softmax loss function by function, resulting in improved feature discriminability.
incorporating an angular margin, which strengthens feature CosFace achieves state-of-the-art performance on several
discrimination among different identities. The technique is benchmark face datasets. According to Bulat, A. [14], the
widely adopted in high-precision face recognition study explores the challenges in 2D and 3D face alignment.
applications. According to Chen, S. [4], MobileFaceNets The research focuses on using deep learning techniques to
present an efficient deep CNN architecture optimized for improve face alignment accuracy under diverse conditions,
real-time face verification on mobile devices. The model such as varying poses and lighting conditions. Face
leverages depth-wise separable convolutions to reduce alignment is critical for improving the robustness of face
computational complexity while maintaining high recognition systems. According to Jiang, F. [15], the paper
recognition accuracy. MobileFaceNets are particularly surveys real-time face recognition techniques for edge
suitable for edge computing applications, where resource devices. It evaluates various deep learning models in terms
constraints are a primary concern. According to King, D. E. of computational efficiency, accuracy, and hardware
[5], Dlib-ml is an open-source machine learning library that constraints. The study provides insights into deploying face
provides robust tools for face detection and recognition. The recognition models in real-world scenarios with limited
library implements state-of-the-art algorithms, including computational resources. According to Deng, W. [16],
histogram of oriented gradients (HOG) for face detection and ArcFace-based deep face recognition techniques are
deep learning-based recognition models. Dlib is widely used reviewed. The study discusses advancements in loss
in real-time applications due to its efficiency and ease of functions, data augmentation strategies, and large-scale
integration. According to Cao, Q. [6], VGGFace2 is a large- deployment challenges. ArcFace-based methods are widely
scale dataset designed for training deep face recognition adopted in security and biometric authentication applications.
models. The dataset contains diverse facial images with According to Lin, T. Y. [17], Microsoft COCO is a large-
variations in pose, age, and ethnicity, enabling robust model scale dataset designed for object detection, segmentation, and
training. VGGFace2 is instrumental in improving recognition. The dataset provides a valuable resource for
generalization capabilities of deep learning models for face training face detection models by offering diverse images
recognition tasks. According to Liu, W. [7], SSD (Single with different occlusions and backgrounds. According to
Shot MultiBox Detector) is a real-time object detection Simonyan, K. [18], Very Deep Convolutional Networks
framework that can be applied to face detection. SSD (VGG) demonstrate the effectiveness of deep architectures
balances detection accuracy and computational speed by for large-scale image recognition. The VGG architecture is
using a single network pass for detecting multiple objects at frequently used in face recognition due to its ability to
different scales. This architecture is particularly beneficial capture hierarchical feature representations. According to
for embedded face recognition systems. According to Krizhevsky, A. [19], AlexNet introduces deep convolutional
Redmon, J. [8], YOLO (You Only Look Once) is a real-time networks for image classification. The model played a
object detection model that is highly efficient in face crucial role in advancing deep learning techniques for face
detection. YOLO processes images in a single forward pass, recognition by demonstrating the power of convolutional
achieving high-speed performance while maintaining architectures. According to Deng, J. [20], ImageNet is a
accuracy. Its application in face recognition enhances real- large-scale hierarchical image database that enables deep
time detection and tracking capabilities in surveillance and learning advancements. Many face recognition models
biometric authentication systems. According to He, K. [9], leverage ImageNet pre-trained networks to enhance feature
Deep Residual Learning (ResNet) significantly improves extraction and classification performance. According to Ren,
deep network training by introducing residual connections. S. [21], Faster R-CNN improves real-time object detection
These connections allow gradients to flow through deeper using region proposal networks. The model is widely used
layers, addressing the vanishing gradient problem. ResNet- for face detection in security, surveillance, and biometric
based architectures are extensively used in face recognition applications. According to Wu, Y. [22], MobileFaceNets
due to their ability to learn highly discriminative features. introduce lightweight face recognition models suitable for
According to Howard, A. G. [10], MobileNets provide mobile and embedded applications. These models maintain
lightweight CNN architectures optimized for mobile and high accuracy while being computationally efficient.
embedded vision applications. By utilizing depth-wise According to Li, X. [23], this survey provides a
separable convolutions, MobileNets significantly reduce comprehensive review of deep learning-based face
model size and inference time, making them suitable for real- recognition techniques, discussing various architectures,
time face recognition on mobile devices. According to challenges, and future research directions. The study
Parkhi, O. M. [11], Deep Face Recognition explores deep highlights the evolution of face recognition methods and
learning techniques for face verification and identification. their applications in diverse domains. According to
The study presents a convolutional neural network model Srivastava, A. K. [24], an image processing-based intelligent
trained on a large dataset to achieve high accuracy in face mini robotic face recognition system is proposed. The system
recognition tasks. The framework is widely used in security integrates deep learning-based face recognition with robotic
and authentication applications. According to Taigman, Y. automation for real-world applications.
[12], DeepFace introduces a deep learning-based face
recognition system that bridges the gap between human-level III. METHODOLOGY
and machine-level performance. The model employs a deep
convolutional network trained on a large dataset, This figure This figure summarizes the literature review,
significantly improving face verification accuracy across detailing our methodology, mathematical framework, and the
different datasets. According to Wang, H. [13], CosFace algorithms implemented on the Raspberry Pi. The system
proposes a large-margin cosine loss function to enhance deep integrates sensor-driven LED indicators, a unidirectional
voice speaker, and a high-resolution camera for real-time infrastructures and sophisticated computational frameworks.
face recognition and detection. It features an inbuilt SD card Deep representational embeddings and convolutional feature
for storage and operates on battery power. A multi- hierarchies work together to produce exceptional accuracy,
algorithmic approach ensures accurate facial recognition, highlighting its crucial role in high-stakes biometric
leveraging Azure Cloud for secure data storage and retrieval. applications. An evolutionary trajectory toward more
A GPS module captures live geospatial coordinates autonomous, cognitively complex, and seamlessly integrated
alongside images, while advanced image processing recognition systems is maintained by deep learning as
enhances clarity and resolution. An auto-refresh mechanism research keeps pushing the limits of optimization.
optimizes real-time performance. The system employs two
datasets a pre-existing database for recognizing known
individuals and a real-time detection module for new
identities. It cross-references Azure Cloud for matches,
assigns unique IDs to unidentified faces, and delivers
personalized voice greetings. Users can update their ID and
name for customized interactions. By integrating cutting-
edge face recognition algorithms, the system ensures high-
speed, precise, and secure real-time identification, with
Azure safeguarding data integrity and advanced image
enhancement optimizing accuracy. Raspberry Pi is a Input Data Deep Learning Output
compact, low-cost, and versatile single-board computer
designed for various applications, including IoT, AI, and Fig. 2. Deep learning high level model flow.
embedded systems.
based intelligent IV. ALGORITHM AND ANALYSIS

A. Dlib (HOG + CNN)

Dlib's facial recognition framework synergizes
Histogram of Oriented Gradients (HOG) with Convolutional
Neural Networks (CNN) to effectuate an intricate pipeline
for facial detection and identity verification. The input image
is subjected to histogram equalisation for contrast
enhancement, resizing for efficiency, and greyscale
conversion for simplicity. While a sliding window searches
Fig. 1. Flow chart for model using respberry pi areas for faces, HOG uses gradient orientation analysis to
extract features. By categorising regions as face or non-face,
It features an ARM based processor, multiple USB ports, CNN improves detection. Identity verification using distance
HDMI output, GPIO pins for hardware interfacing, and built- metrics is made possible by the 128D feature vector
in Wi-Fi and Bluetooth in newer models. Raspberry Pi produced by Dlib's deep learning model. For processing and
supports various operating systems like Raspberry Pi OS, authentication, Azure uses the Face API or stores

gradients are computed using Gx = I∗Dx and 𝐺𝑦=𝐼∗𝐷𝑦.

Ubuntu, and Windows IoT Core. It enables real-time embeddings. The image is first converted to grayscale, and
processing, making it ideal for face recognition systems,
robotics and cloud integration. With power efficiency and The gradient magnitude is calculated as M(x,y) =
strong community support, Raspberry Pi is widely used in square_root (Gx2+Gy2) and the orientation is
automation, AI projects, and educational initiatives for θ(x,y)=tan−1(Gy/Gx). HOG features are extracted,

If 𝑓 ( 𝑥 ) > 0 f(x)>0 the region contains a face. Non-

learning programming and hardware interaction. normalized, and classified using an SVM with f(x)=w T x+b.

A. Deep Learning Maximum Suppression (NMS) merges overlapping

The mysterious field of deep learning, a branch of detections. The detected face is resized and passed through a
artificial intelligence, uses the depth of multi-layered neural CNN. Convolution is performed as Z=W∗X+B followed by
networks to automatically infer complex high-dimensional ReLU activation f(x)=max(0,x) and Max Pooling P=max(Z).
representations, especially in face detection and recognition. A 128- dimensional embedding is extracted, and similarity is

square_root (sum(A i −B i ) 2 ). If 𝑑 ( 𝐴 , 𝐵 ) d(A,B) is

These architectures create an unmatched discriminatory determined using the Euclidean Distance d(A,B) =
paradigm by recursively improving hierarchical abstractions,
and they are robust against spectral distortions, topological below a threshold (e.g., 0.6), the faces match.
inconsistencies, and occlusion variability. Deep learning
coordinates self-adaptive generalization, which surpasses B. MTCNN
traditional heuristic driven approaches and achieves The Proposal Network (P-Net), Refinement Network (R-
previously unheard-of levels of effectiveness in real-time Net), and Output Network (O-Net) are the three cascaded
biometric intelligence. Deep learning enables highly accurate neural networks used in the Multi-Task Cascaded
facial identification by utilizing advanced feature extraction Convolutional Neural Network (MTCNN) algorithm to
and non-linear transformation mechanisms allowing for identify and align faces. To identify faces of different sizes,
dynamic adaptation to complex environmental conditions. It
the image is first resized to several scales. To extract
further improves scalability and real-time processing
features, the P-Net uses convolutional layers after scanning
efficiency through integration with cloud-based
the image with a sliding window. It refines locations using a the face has been resized and normalised, it is fed into
bounding box regressor and determines face regions using a MobileFaceNet, a compact neural network architecture that
classifier. The redundant overlapping boxes are eliminated extracts discriminative features. By substituting bottleneck
by the non-maximum suppression (NMS) algorithm. The depthwise separable convolutions for conventional
output of the P-Net is fed into the R-Net, which further convolutions, MobileFaceNet drastically lowers the number
refines the bounding boxes. To improve accuracy, it uses a of parameters while maintaining representational power. The
bounding box regression, extra convolutional layers, and a model calculates a low-dimensional feature vector f(I) that is
classifier for face verification. Once more, NMS is used to either 128-dimensional or 512-dimensional given an input
get rid of redundant detections. Deeper convolutional layers image I. ArcFace loss, which is defined as follows, is used to
are used by the O-Net to process the refined face candidates, train MobileFaceNet in order to improve recognition
producing the final bounding boxes and five facial landmarks performance: L=−N1i=1∑Nloges(cos(θi+m))+∑j =iescosθj

feature and its class centre is represented by 𝜃𝑖, s is the

(the corners of the mouth, nose, and eyes) for face alignment. es(cos(θi+m)) where: The angular separation between the
Another round of NMS is applied to obtain the final face.
feature scaling factor, m is the margin penalty to improve
function 𝐹(𝐼,𝑊) F(I,W) to process an input image I, where
In mathematical terms, the network uses a convolutional
class separability, N is the batch size. Cosine similarity is
W stands for learnt weights. The bounding box regression used to compare two feature vectors, A and B, in order to
function B(x) modifies the coordinates, while the match faces: S(A,B)=∣∣A∣∣⋅∣∣B∣∣A⋅B where high similarity is
classification function C(x) ascertains whether a region has a indicated by a score nearer 1. Due to its high efficiency and

landmark detection function L(x) 𝐿(𝑥). In the last step,

face. The five essential points are predicted by the facial low computation requirements, MobileFaceNet is perfect for
low-power applications such as embedded platforms like
Raspberry Pi, mobile devices and Internet of Things systems.
The formula 𝑑(𝐴,𝐵) = 𝑠𝑞𝑢𝑟 𝑒 _ 𝑟𝑜 𝑡 (𝑠𝑢𝑚 (𝐴𝑖 −𝐵𝑖) 2)
faces are aligned using Euclidean distance:

d(A,B)=square_root(sum(A i−B i) 2), where A and B are 1) Precision

landmark coordinates. This guarantees reliable face Precision is determined by dividing the total number of
alignment and detection. detected faces by the percentage of correctly identified faces
Precision = True Positives + False Positives/True Positives.
C. InsightFace For security applications like biometric authentication,
A high-performance face recognition framework built on where false positives can allow unwanted access, a high
deep learning and ArcFace loss for precise feature precision value indicates that the system rarely misidentifies
embedding is the InsightFace algorithm. Deep convolutional a non-matching face. Frequent incorrect matches are
networks are used for face detection, alignment, and indicated by a low precision, which may jeopardise the
recognition. RetinaFace, a cutting-edge face detector, is used integrity of the system.
to first detect and align the face in the image as part of the
preprocessing step. It uses affine transformation to normalise 2) Recall
the face by detecting facial landmarks like the corners of the Recall measures a model's capacity to identify real faces and
mouth, nose, and eyes. To enhance feature discrimination, is determined by Recall = True Positives + False Negatives /
the aligned face is then fed through a deep Convolutional True Positives . The potential of missing real people is
Neural Network (CNN) trained with ArcFace loss. Based on decreased by a high recall value, which guarantees that the
an input image I, the network uses convolutional layers, majority of legitimate faces are identified. In forensic or
normalisation, and fully connected layers to extract a feature surveillance applications, where failing to identify a familiar
vector f(I). L=−N1i=1∑Nloges(cos(θi+m))+∑j=iescosθj face can have dire repercussions, this is crucial. The system's
es(cos(θi+m)) where θ is the angle that separates the class dependability is weakened by low recall, which results in
centre and the feature vector. s is a scaling factor, m is the many real faces being overlooked.
angular margin to enforce larger intra-class distance, N is the
batch size. For face verification, two feature embeddings 3) F1 - Score
AAA and BBB are compared using Cosine Similarity: The F1 Score offers a fair assessment by taking into account
S(A,B)=∣∣A∣∣⋅∣∣B∣∣A⋅B where the same identity is indicated by both recall and precision, which are described as F1 Score =
a higher similarity score. For real-world face recognition 2× Precision+Recall / Precision×Recall It is especially
applications, InsightFace is very effective because it helpful in situations where minimising false positives and
combines RetinaFace for detection and ArcFace for false negatives at the same time is necessary, like in facial
recognition, ensuring high accuracy. access control systems. A model that performs well and
successfully lowers missed detections and incorrect matches
D. MobileFaceNet has a high F1 Score.
A lightweight deep learning model geared towards real-time
face recognition on mobile and edge devices is called When evaluating face recognition models, these metrics are
MobileFaceNet. The depthwise separable convolutions in crucial because focussing on just one metric can result in an
MobileNetV2 are used in its construction, which lowers unbalanced system. High recall but low precision models
computational complexity without sacrificing accuracy. might identify too many incorrect faces, while high precision
The first step in the procedure is face detection and but low recall models might be too stringent, rejecting even
alignment, which is usually done with RetinaFace or correct matches. When these metrics are balanced, real-
MTCNN, which extracts important facial landmarks. After world applications such as automated passport verification,
mobile authentication and AI driven identity verification percent, a recall of 98.99 percent, and an F1-Score of 98.79
systems operate at their best. percent. Its efficient computational requirements make it
suitable for integration with Raspberry Pi, although its
V. RESULT AND DISCUSSION performance can be further improved through strategic
The methodical analysis of real-time facial detection and offloading to Azure's cloud infrastructure. In contrast,
recognition on a Raspberry Pi that works in tandem with MTCNN, which employs a similar methodological
Azure's computational environment requires a detailed approach, ranks as the least effective among the algorithms
dissection of precision, recall, and the F1-Score three analyzed, with a precision of 96.94 percent, a recall of 97.94
fundamental metrics that define the system's inferential percent, and an F1-Score of 97.94 percent. However, its
robustness. Accuracy, a crucial factor in algorithmic high computational demands result in significant latency
recognition, measures the percentage of correctly identified issues, limiting its effectiveness for real-time applications,
facial features compared to the total number of detections. as clearly demonstrated in Fig. 3.
Conversely, recall summarises the model's ability to fully
retrieve every single face instance in an observational corpus.
TABLE I. ALGORITHM WITH TIME BASED RESULT.
The F1-Score, a complex harmonic combination of these
metrics, is a crucial metric that guarantees a comprehensive Sr. Algorithm Precision Recall F1-Score
balance between precision and sensitivity, which is an No.
1. InsightFace 98.79 99.19 98.99
essential requirement for real-time implementation in 2. MobileFaceNet 97.79 98.37 98.17
latency-constrained computing systems. The Raspberry Pi's 3. Dlib 98.59 98.99 98.79
local inferencing capabilities and Azure's cloud-augmented 4. MTCNN(HOG+CNN) 96.94 97.94 97.94
computing paradigm work in concert to create an operational
framework that reduces inference latency while increasing In conclusion, InsightFace demonstrates undeniable
computational efficiency dramatically. Table 1 provides a superiority as the leading algorithm for real-time facial
systematic summary of the algorithmic performance recognition on Raspberry Pi when integrated with Azure.
delineations and a structured comparative explanation of Although MobileFaceNet serves as a convenient option, it is
their empirical effectiveness. InsightFace clearly limited by certain vulnerabilities. In contrast, Dlib gains
demonstrates a dominant position in the field, achieving an significant advantages from cloud-based computational
exceptional precision of 98.79 percent, a recall of 99.19 enhancements. MTCNN, burdened by high computational
percent, and an F1-Score of 98.99 percent, as shown in Table demands, is identified as the least favorable model, a finding
1. The depth of its deep learning framework provides it with supported by the empirical evidence presented in Table 1 and
a robust capability to withstand a wide range of adversarial Fig. 3.
challenges, including variations in lighting, occlusions, and
changes in pose. Enhanced by Azure’s cloud computing
infrastructure, InsightFace delivers rapid inferential
performance, establishing it as the leading model for real-
time facial recognition, a claim supported by Figure 1, which
illustrates its empirical superiority. In comparison,
MobileFaceNet, while slightly less effective, achieves a
precision of 97.79 percent, a recall of 98.37 percent, and an
F1-Score of 98.17 percent. Its design is optimized for edge-
based applications, making it computationally efficient;
however, its vulnerability to changes in lighting limits its
versatility, as indicated in Fig 3.

Fig. 3. Algorithm with time based result chart.

VI. CONCLUSIONAND FUTURE ASPECTS
Dlib, which combines Histogram of Oriented Gradients
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achieves impressive metrics with a precision of 98.59 element in contemporary security, surveillance, and
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