Abstract:
Smoke detection is essential for fire prevention, yet it is significantly hampered by the visual similarities between smoke and fog. To address this challenge, a split to...Show MoreMetadata
Abstract:
Smoke detection is essential for fire prevention, yet it is significantly hampered by the visual similarities between smoke and fog. To address this challenge, a split top-k attention transformer framework (STKformer) is proposed. The STKformer incorporates split top-k attention (STKA), which partitions the attention map for top-k selection to retain informative self-attention values while capturing long-range dependencies. This approach effectively filters out irrelevant attention scores, preventing information loss. Furthermore, the adaptive dark-channel-prior guidance network (ADGN) is designed to enhance smoke recognition under foggy conditions. ADGN employs pooling operations instead of minimum value filtering, allowing for efficient dark channel extraction with learnable parameters and adaptively reducing the impact of fog. The extracted prior information subsequently guides feature extraction through a priorformer block, improving model robustness. Additionally, a cross-stage fusion module (CSFM) is introduced to aggregate features from different stages efficiently, enabling flexible adaptation to smoke features at various scales and enhancing detection accuracy. Comprehensive experiments demonstrate that the proposed method achieves state-of-the-art performance across multiple datasets, with an accuracy of 89.68% on dataset for smoke detection in fog, 99.76% on CCTV images of smoke, and 99.76% on UAV images of wildfire. The method maintains high speed and lightweight characteristics, validated with an inference speed of 211.46 FPS on an NVIDIA Jetson AGX Orin after TensorRT acceleration, confirming its effectiveness and efficiency for real-world applications. The source code is available at https://github.com/Jiongze-Yu/STKformerhttps://github.com/Jiongze-Yu/STKformer.
Published in: IEEE Internet of Things Journal ( Volume: 12, Issue: 6, 15 March 2025)
Funding Agency:

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Jiongze Yu received the B.Sc. degree in mechanical engineering from Southwest Jiaotong University, Chengdu, China, in 2022. He is currently pursuing the postgraduate degree in transportation engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His work is characterized by a keen focus on the applicatio...Show More
Jiongze Yu received the B.Sc. degree in mechanical engineering from Southwest Jiaotong University, Chengdu, China, in 2022. He is currently pursuing the postgraduate degree in transportation engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His work is characterized by a keen focus on the applicatio...View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Heqiang Huang received the B.Sc. degree in electronic information science and technology from Lanzhou University, Lanzhou, China, in 2023. He is currently pursuing the postgraduate degree in transportation engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His research domain primarily revolves aroun...Show More
Heqiang Huang received the B.Sc. degree in electronic information science and technology from Lanzhou University, Lanzhou, China, in 2023. He is currently pursuing the postgraduate degree in transportation engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His research domain primarily revolves aroun...View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Yuhang Ma received the B.S. degree in automation with Huazhong University of Science and Technology, Wuhan, China, in 2020. He is currently pursuing the master’s degree in electronic and information engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His current research interests include autonomous d...Show More
Yuhang Ma received the B.S. degree in automation with Huazhong University of Science and Technology, Wuhan, China, in 2020. He is currently pursuing the master’s degree in electronic and information engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His current research interests include autonomous d...View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Yueying Wu received the B.S. degree in Internet of Things engineering from Central South University, Changsha, China, in 2020, and the M.S. degree in transportation engineering from Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China in 2023.
Her current research interests include autonomous driving and vehicle-road co...Show More
Yueying Wu received the B.S. degree in Internet of Things engineering from Central South University, Changsha, China, in 2020, and the M.S. degree in transportation engineering from Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China in 2023.
Her current research interests include autonomous driving and vehicle-road co...View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Junzhou Chen received the B.S. degree in computer science and applications and the M.Eng. degree in software engineering from Sichuan University, Chengdu, China, in 2002 and 2005, respectively, and the Ph.D. degree in computer science and engineering from The Chinese University of Hong Kong, Hong Kong, in 2008.
From March 2009 to February 2019, he served as a Lecturer and later as an Associate Professor with the School of ...Show More
Junzhou Chen received the B.S. degree in computer science and applications and the M.Eng. degree in software engineering from Sichuan University, Chengdu, China, in 2002 and 2005, respectively, and the Ph.D. degree in computer science and engineering from The Chinese University of Hong Kong, Hong Kong, in 2008.
From March 2009 to February 2019, he served as a Lecturer and later as an Associate Professor with the School of ...View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Ronghui Zhang received the B.Sc.(Eng.) degree from the Department of Automation Science and Electrical Engineering, Hebei University, Baoding, China, in 2003, the M.S. degree in vehicle application engineering from Jilin University, Changchun, China, in 2006, and the Ph.D.(Eng.) degree in mechanical and electrical engineering from Changchun Institute of Optics, Fine Mechanics and Physics, The Chinese Academy of Sciences, ...Show More
Ronghui Zhang received the B.Sc.(Eng.) degree from the Department of Automation Science and Electrical Engineering, Hebei University, Baoding, China, in 2003, the M.S. degree in vehicle application engineering from Jilin University, Changchun, China, in 2006, and the Ph.D.(Eng.) degree in mechanical and electrical engineering from Changchun Institute of Optics, Fine Mechanics and Physics, The Chinese Academy of Sciences, ...View more

School of Computer Science and Engineering, South China University of Technology, Guangzhou, Guangdong, China
Xuemiao Xu (Member, IEEE) received the B.S. and M.S. degrees in computer science and engineering from South China University of Technology, Guangzhou, China, in 2002 and 2005, respectively, and the Ph.D. degree in computer science and engineering from The Chinese University of Hong Kong, Hong Kong, in 2009.
She is currently a Professor with the School of Computer Science and Engineering, South China University of Technolog...Show More
Xuemiao Xu (Member, IEEE) received the B.S. and M.S. degrees in computer science and engineering from South China University of Technology, Guangzhou, China, in 2002 and 2005, respectively, and the Ph.D. degree in computer science and engineering from The Chinese University of Hong Kong, Hong Kong, in 2009.
She is currently a Professor with the School of Computer Science and Engineering, South China University of Technolog...View more

Department of Game Design, Faculty of Arts, Uppsala University, Uppsala, Sweden
Zhihan Lv (Senior Member, IEEE) was born in Shandong, China, in 1984. He received the Ph.D. degree from Paris7 University, Paris, France, and Ocean University of China, Qingdao, China, in 2012.
He is currently an Associate Professor with Uppsala University, Uppsala, Sweden. Prior to that, he was a Research Associate with University College London, London, U.K. He has also been an Assistant Professor with Shenzhen Institute...Show More
Zhihan Lv (Senior Member, IEEE) was born in Shandong, China, in 1984. He received the Ph.D. degree from Paris7 University, Paris, France, and Ocean University of China, Qingdao, China, in 2012.
He is currently an Associate Professor with Uppsala University, Uppsala, Sweden. Prior to that, he was a Research Associate with University College London, London, U.K. He has also been an Assistant Professor with Shenzhen Institute...View more

School of Mechanical Engineering, Southeast University, Nanjing, China
Guodong Yin (Senior Member, IEEE) received the Ph.D. degree from the Department of Vehicle Engineering, Southeast University, Nanjing, China, in 2007.
From 2011 to 2012, he was a Visiting Scholar with the Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA. He is currently a Professor with the School of Mechanical Engineering, Southeast University. He has published more than 150...Show More
Guodong Yin (Senior Member, IEEE) received the Ph.D. degree from the Department of Vehicle Engineering, Southeast University, Nanjing, China, in 2007.
From 2011 to 2012, he was a Visiting Scholar with the Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA. He is currently a Professor with the School of Mechanical Engineering, Southeast University. He has published more than 150...View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Jiongze Yu received the B.Sc. degree in mechanical engineering from Southwest Jiaotong University, Chengdu, China, in 2022. He is currently pursuing the postgraduate degree in transportation engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His work is characterized by a keen focus on the application of advanced computational techniques in enhancing the efficiency and safety of autonomous vehicular systems. His research ambit primarily encompasses computer vision, deep learning, and autonomous driving technologies.
Jiongze Yu received the B.Sc. degree in mechanical engineering from Southwest Jiaotong University, Chengdu, China, in 2022. He is currently pursuing the postgraduate degree in transportation engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His work is characterized by a keen focus on the application of advanced computational techniques in enhancing the efficiency and safety of autonomous vehicular systems. His research ambit primarily encompasses computer vision, deep learning, and autonomous driving technologies.View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Heqiang Huang received the B.Sc. degree in electronic information science and technology from Lanzhou University, Lanzhou, China, in 2023. He is currently pursuing the postgraduate degree in transportation engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His research domain primarily revolves around computer vision, deep learning, and autonomous driving technologies.
Heqiang Huang received the B.Sc. degree in electronic information science and technology from Lanzhou University, Lanzhou, China, in 2023. He is currently pursuing the postgraduate degree in transportation engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His research domain primarily revolves around computer vision, deep learning, and autonomous driving technologies.View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Yuhang Ma received the B.S. degree in automation with Huazhong University of Science and Technology, Wuhan, China, in 2020. He is currently pursuing the master’s degree in electronic and information engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His current research interests include autonomous driving and computer vision.
Yuhang Ma received the B.S. degree in automation with Huazhong University of Science and Technology, Wuhan, China, in 2020. He is currently pursuing the master’s degree in electronic and information engineering with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China.
His current research interests include autonomous driving and computer vision.View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Yueying Wu received the B.S. degree in Internet of Things engineering from Central South University, Changsha, China, in 2020, and the M.S. degree in transportation engineering from Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China in 2023.
Her current research interests include autonomous driving and vehicle-road collaboration, deep learning, and computer vision.
Yueying Wu received the B.S. degree in Internet of Things engineering from Central South University, Changsha, China, in 2020, and the M.S. degree in transportation engineering from Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China in 2023.
Her current research interests include autonomous driving and vehicle-road collaboration, deep learning, and computer vision.View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Junzhou Chen received the B.S. degree in computer science and applications and the M.Eng. degree in software engineering from Sichuan University, Chengdu, China, in 2002 and 2005, respectively, and the Ph.D. degree in computer science and engineering from The Chinese University of Hong Kong, Hong Kong, in 2008.
From March 2009 to February 2019, he served as a Lecturer and later as an Associate Professor with the School of Information Science and Technology, Southwest Jiaotong University, Chengdu. He is currently an Associate Professor with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China. His research interests include computer vision, machine learning, intelligent transportation systems, mobile computing, and medical image processing.
Junzhou Chen received the B.S. degree in computer science and applications and the M.Eng. degree in software engineering from Sichuan University, Chengdu, China, in 2002 and 2005, respectively, and the Ph.D. degree in computer science and engineering from The Chinese University of Hong Kong, Hong Kong, in 2008.
From March 2009 to February 2019, he served as a Lecturer and later as an Associate Professor with the School of Information Science and Technology, Southwest Jiaotong University, Chengdu. He is currently an Associate Professor with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China. His research interests include computer vision, machine learning, intelligent transportation systems, mobile computing, and medical image processing.View more

Guangdong Key Laboratory of Intelligent Transportation System and the School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China
Ronghui Zhang received the B.Sc.(Eng.) degree from the Department of Automation Science and Electrical Engineering, Hebei University, Baoding, China, in 2003, the M.S. degree in vehicle application engineering from Jilin University, Changchun, China, in 2006, and the Ph.D.(Eng.) degree in mechanical and electrical engineering from Changchun Institute of Optics, Fine Mechanics and Physics, The Chinese Academy of Sciences, Changchun, China, in 2009.
After finishing his postdoctoral research work with INRIA, Paris, France, in February 2011, he is currently an Associate Professor with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China. His current research interests include computer vision, intelligent control, and ITS.
Ronghui Zhang received the B.Sc.(Eng.) degree from the Department of Automation Science and Electrical Engineering, Hebei University, Baoding, China, in 2003, the M.S. degree in vehicle application engineering from Jilin University, Changchun, China, in 2006, and the Ph.D.(Eng.) degree in mechanical and electrical engineering from Changchun Institute of Optics, Fine Mechanics and Physics, The Chinese Academy of Sciences, Changchun, China, in 2009.
After finishing his postdoctoral research work with INRIA, Paris, France, in February 2011, he is currently an Associate Professor with Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China. His current research interests include computer vision, intelligent control, and ITS.View more

School of Computer Science and Engineering, South China University of Technology, Guangzhou, Guangdong, China
Xuemiao Xu (Member, IEEE) received the B.S. and M.S. degrees in computer science and engineering from South China University of Technology, Guangzhou, China, in 2002 and 2005, respectively, and the Ph.D. degree in computer science and engineering from The Chinese University of Hong Kong, Hong Kong, in 2009.
She is currently a Professor with the School of Computer Science and Engineering, South China University of Technology. Her research interests include object detection and tracking and recognition, and image&video understanding and synthesis, particularly their applications in the intelligent transportation system and robots.
Xuemiao Xu (Member, IEEE) received the B.S. and M.S. degrees in computer science and engineering from South China University of Technology, Guangzhou, China, in 2002 and 2005, respectively, and the Ph.D. degree in computer science and engineering from The Chinese University of Hong Kong, Hong Kong, in 2009.
She is currently a Professor with the School of Computer Science and Engineering, South China University of Technology. Her research interests include object detection and tracking and recognition, and image&video understanding and synthesis, particularly their applications in the intelligent transportation system and robots.View more

Department of Game Design, Faculty of Arts, Uppsala University, Uppsala, Sweden
Zhihan Lv (Senior Member, IEEE) was born in Shandong, China, in 1984. He received the Ph.D. degree from Paris7 University, Paris, France, and Ocean University of China, Qingdao, China, in 2012.
He is currently an Associate Professor with Uppsala University, Uppsala, Sweden. Prior to that, he was a Research Associate with University College London, London, U.K. He has also been an Assistant Professor with Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Beijing, China, since 2012. He was with the CNRS, Montpellier, France, as a Research Engineer; with Umeå University, Umeå, Sweden, and KTH Royal Institute of Technology, Stockholm, Sweden, as a Postdoctoral Research Fellow; and with Fundacion FIVAN, Valencia, Spain, as a Experienced Researcher. He was a Marie Curie Fellow with European Union’s Seventh Framework Programme LANPERCEPT. His research application fields widely range from everyday life to traditional research fields, such as geography, biology, and medicine. He has completed several projects successfully on PC, Website, Smartphone, and Smartglasses. His research interest include multimedia, augmented reality, virtual reality, computer vision, 3-D visualization and graphics, serious game, HCI, bigdata, and GIS.
Zhihan Lv (Senior Member, IEEE) was born in Shandong, China, in 1984. He received the Ph.D. degree from Paris7 University, Paris, France, and Ocean University of China, Qingdao, China, in 2012.
He is currently an Associate Professor with Uppsala University, Uppsala, Sweden. Prior to that, he was a Research Associate with University College London, London, U.K. He has also been an Assistant Professor with Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Beijing, China, since 2012. He was with the CNRS, Montpellier, France, as a Research Engineer; with Umeå University, Umeå, Sweden, and KTH Royal Institute of Technology, Stockholm, Sweden, as a Postdoctoral Research Fellow; and with Fundacion FIVAN, Valencia, Spain, as a Experienced Researcher. He was a Marie Curie Fellow with European Union’s Seventh Framework Programme LANPERCEPT. His research application fields widely range from everyday life to traditional research fields, such as geography, biology, and medicine. He has completed several projects successfully on PC, Website, Smartphone, and Smartglasses. His research interest include multimedia, augmented reality, virtual reality, computer vision, 3-D visualization and graphics, serious game, HCI, bigdata, and GIS.View more

School of Mechanical Engineering, Southeast University, Nanjing, China
Guodong Yin (Senior Member, IEEE) received the Ph.D. degree from the Department of Vehicle Engineering, Southeast University, Nanjing, China, in 2007.
From 2011 to 2012, he was a Visiting Scholar with the Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA. He is currently a Professor with the School of Mechanical Engineering, Southeast University. He has published more than 150 peer-reviewed journal and conference papers. His research interests include vehicle dynamics, connected vehicles, and multiagent control.
Guodong Yin (Senior Member, IEEE) received the Ph.D. degree from the Department of Vehicle Engineering, Southeast University, Nanjing, China, in 2007.
From 2011 to 2012, he was a Visiting Scholar with the Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA. He is currently a Professor with the School of Mechanical Engineering, Southeast University. He has published more than 150 peer-reviewed journal and conference papers. His research interests include vehicle dynamics, connected vehicles, and multiagent control.View more