X-YOLO: A deep learning based toolset with multiple
optimization strategies for contraband detection
Haoyue Wang Wei Wang∗
School of Data Science and School of Data Science and
Engineering Engineering
East China Normal University East China Normal University
Shanghai, China Shanghai, China
wsunshine1089@163.com wwang@dase.ecnu.edu.cn
ABSTRACT
Observing X-ray images manually is a common method for detect-
ing contraband in packages. Long-term continuous observation is
prone to visual fatigue, leading to problems of missed detection
and false detection. Motivated by aiding operators in contraband
detection in packages, we propose X-YOLO which is a deep learn-
ing based toolset with multiple optimization strategies for con-
traband detection to increase the detection precision. The path
enhancement is designed to shorten the information path between
the lower layer and the uppermost layer. We replace Leaky ReLU
with Swish and Steps with SGDR to make training stable. Mixup,
a dataset-independent method for data augmentation, is designed
to increase the amount of training data for improving the general-
ization of model without expert knowledge. In order to solve the
issue that Intersection over Union (IoU ) can not deal with two non-
overlapping objects, we apply Generalized Intersection over Union
(GIoU ) as bounding box losses. The experimental results show that
X-YOLO achieves mAP up to 96.02% and recall up to 98.55%, surpass-
ing Faster R-CNN, SSD, YOLOv1, YOLOv2, Tiny-YOLO, YOLOv3,
YOLOv3-tiny, YOLOv3-spp and YOLOv3 with some of optimization
strategies.
CCS CONCEPTS
• Computing methodologies → Artificial intelligence; Com-
puter vision; Computer vision problems; Object detection;
KEYWORDS
contraband detection, X-YOLO, optimization strategies
ACM Reference Format:
Haoyue Wang, Wei Wang, and Yao Liu. 2020. X-YOLO: A deep learning
based toolset with multiple optimization strategies for contraband detection.
In ACM Turing Celebration Conference - China (ACM TURC’20), May 22–24,
2020, Hefei, China. ACM, New York, NY, USA, 6 pages. https://doi.org/10.
1145/3393527.3393549
∗ Wei Wang is the corresponding author.
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ACM TURC’20, May 22–24, 2020, Hefei, China
© 2020 Association for Computing Machinery.
ACM ISBN 978-1-4503-7534-4/20/05. . . $15.00
https://doi.org/10.1145/3393527.3393549
Yao Liu
School of Data Science and
Engineering
East China Normal University
Shanghai, China
liuyao@cc.ecnu.edu.cn
1 INTRODUCTION
X-ray security is widely used to maintain aviation and transporta-
tion security. It provides an important image-based object detection
task for operators to inspect compact, cluttered and highly vari-
able package contents in a limited time. In recent years, China’s
logistics industry has been booming. It has risen from a past end
industry to a leading industry that guides production and promotes
consumption, bringing convenience and benefits to many people.
Contraband detection plays an important role in the daily pack-
age logistics industry and the security industry. It is responsible for
preventing contraband such as inflammables and explosives from
entering the shipping channels, managing special freight items such
as knives and monitoring the smuggling of key national contraband
such as drugs. With the popularity and rapid development of online
shopping, the goods transported by the logistics industry begin to
be complex and diverse. The number of online logistics packages
has far exceeded the range that can be handled manually, which
has brought huge challenges to the logistics package supervision.
Although the traditional contraband detection considers applica-
tion of computer vision, those processes still require highly trained
operators to observe the resulting images and draw the correct
conclusions. Gesick et al.[1] proposed an algorithm based on the
scale invariant feature transform (SIFT)[2]. They attempted this
algorithm, edge detection combined with pattern matching and
Daubechie wavelet transforms[3] to detect concealed weapons. Al-
though the results of the three approaches were not ideal, they
inspired researchers to explore contraband detection later.
Chan et al.[4] explored the feasibility of applying SIFT to trans-
mission X-ray images, which can solve the problem of X-ray image
correspondences. The results revealed that the transparency prop-
erty of X-ray images can provide additional information to help
find the correspondences in X-ray images, while the information
may constrain the matching process under certain conditions.
Bastan et al.[5] proposed two dense sampling methods as key-
point detectors for texture-free objects and extended the SPIN color
descriptors to utilize material information. They then proposed
a multi-view branch-and-bound search algorithm for multi-view
object detection. However, they only tested three object categories.
Riffo[6] proposed a methodology for automatic detection of
threat objects using single X-ray images. The detection method
used a visual vocabulary and an occurrence structure generated
from the training dataset that contained representative x-ray images
of the threat objects to be detected. They detected three different
threat objects: razor blades, shuriken and handguns. The true pos-
itive rates were: 99.0% for razor blades, 97.0% for shuriken and
ACM TURC’20, May 22–24, 2020, Hefei, China
89.0% for handguns. Later, he and Mery et al.[7] evaluated ten dif-
ferent computer vision strategies. They also detected razor blades,
shuriken and handguns. They achieved more than 95.0% of accu-
racy by methods based on visual vocabularies and deep features.
To the best knowledge of the authors, it was the first experiment in
baggage inspection (and probably in Xray testing) that used deep
learning.
Kundegorski et al.[8] explored the use of various feature point
descriptors as visual word variants within a Bag-of-Visual-Words
(BoVW) representation scheme, which can be used to classify im-
ages within baggage security X-ray imagery for threat detection.
For a firearms detection task, the model achieved an accuracy of
94.0%. However, they did not evaluate performance for classification
of additional object types.
Akcay S et al.[9] solved the image classification problem posed
within the context of X-ray baggage security screening through
deep convolutional neural networks(CNN) based on AlexNet[10].
Due to the limitation of training data, they applyed transfer learn-
ing. They primarily trained for generalized image classification
tasks where sufficient training data existed and later specifically
optimized in specific application domains. Although they achieved
98.92% detection accuracy for handgun detection problem, there
were too few types of baggage objects detected. They did not in-
vestigate localization of X-ray baggage objects within the images
either. Later, they[11] trained support vector machine (SVM)[12]
classifier on CNN features. In addition to classification, they also
explored multiple CNN driven detection. With the use of YOLOv2,
using input images of size 416×416, they achieved an mean average
accuracy (mAP) of 97.4% for a two-class firearm detection problem.
Based on classification task and location search task, Yuanxi
Wei[13] used a multi-task transfer learning method on SSD network
to solve the problem that was difficult to collect a comprehensive
image dataset of dangerous goods. The experiments were performed
in SSD300 on the image datasets filtered from GDXray and achieved
a mAP of 91.5%.
We propose X-YOLO which is a deep learning based toolset with
multiple optimization strategies for contraband detection to in-
crease the detection precision in the paper. The main composition
of the paper is as follows. Section 2 introduces some related work.
Section 3 introduces X-YOLO which is a deep learning based toolset
with multiple optimization strategies. Section 4 proves effective-
ness of X-YOLO in contraband detection. The final section gives a
summary and proposes future work.
2 PRELIMINARIES OF YOLO
The main task of object detection is to locate the interested objects
from images. It requires not only to accurately determine the spe-
cific category of each object, but also to give the boundary box
of each object. Deep learning is a subset of artificial intelligence
and machine learning. Without introducing manual coding rules or
human domain knowledge, it can automatically learn features of
data such as images, videos or text. At present, deep learning-based
object detection algorithms have surpassed traditional detection
methods and become the mainstream. According to their design
ideas, they can be divided into two types, object detection algo-
rithms based on regional proposals, such as R-CNN, Fast R-CNN,
Haoyue Wang, Wei Wang, and Yao Liu
Faster R-CNN[14], and object detection algorithms based on end-
to-end training, such as YOLO[15] and SSD[16].
YOLO is an important object detection algorithm based on deep
learning. In this paper, the deep learning based toolset for con-
traband detection is realized around YOLO. YOLO models object
detection as a regression problem and directly returns class prob-
abilities and position of objects. It uses end-to-end training. The
back propagation of loss function runs through the entire network.
The original image is first divided into grid cells and each cell is
independently detected. If the center of an object falls in a cell, then
the cell is responsible for predicting the object. Each cell needs to
predict B bounding boxes and each bounding box not only has to
return its own position, but also predict a confidence. Confidence
indicates the probabilities that the bounding box contains the object
to be detected and the accuracy of the predicted position of the
bounding box. We can calculate confidence as follows:
t ruth
con f idence = Pr (Object) × IoUpr ed (1)
here, if the object falls within the bounding box, Pr (Object) takes
1 and vice versa. IoUpr t ruth is the intersection over union (IoU )
ed
between the predicted bounding box and the ground truth.
Each bounding box predicts five values of x, y, w, h and confi-
dence, where (x, y) coordinate represents the center of the bounding
box relative to the grid cell boundary. w and h represent the ratios
of width and height of the bounding box relative to the entire image.
The x, y, w and h are all limited to [0, 1]. Each grid cell also predicts
C conditional class probabilities, Pr (Classi | Object).
Therefore, YOLO divides the image into S × S grid cells, for each
grid cell predicts B bounding boxes and C class probabilities. These
predictions are encoded as an S × S × (B × 5 + C) tensor.
During test time, the class probabilities are multiplied by the
individual box confidence predictions to obtain the class-specific
confidence scores for each bounding box.
Pr (Classi | Object) ∗ Pr (Object) ∗ IoUpr
t ruth = Pr (Class ) ∗ IoU t rut h
ed i pr ed
(2)
These scores represent the probability that the predicted box be-
longs to a class and the accuracy that the predicted box matches
the object.
After getting the scores for each box, we can set a threshold
and filter out the boxes with low scores. Later non-maximum sup-
pression(NMS) is performed on the reserved boxes to get the test
results.
3 X-YOLO
We propose X-YOLO which is a deep learning based toolset to
improve efficiency of contraband detection. The structure of X-
YOLO is shown as Figure 1. Some articles are used for reference
and multiple optimization strategies are integrated into X-YOLO
framework. In this section, we detail the optimization strategies
used in X-YOLO.
3.1 SGDR
Most object detection algorithms with deep learning use Steps to
reduce learning rate. As the number of iterations changes, the learn-
ing rate can be automatically reduced without manual operation.
X-YOLO: A deep learning based toolset with multiple optimization strategies for contraband detection
Figure 1: X-YOLO Structure
Although Steps can be used to change the learning rate quickly, it
may become unstable in subsequent iterations.
Warmup learning rate is a way to avoid gradient explosions in
the initial stages of training. SGDR[17] (Stochastic Gradient Descent
with Warm Restarts) is a stochastic gradient descent technology
with warm restarts. It can reduce training time and avoid gradients
near zero. The restarts are not performed from scratch but emulated
by increasing the learning rate. The old value is used as an initial
solution. Although the optimization process may be damaged in
the short term, it will eventually converge to a more ideal local
minimum.
Within the i-th run, the learning rate is decayed with a cosine
annealing for each batch as follows:
1 Tcur
ηt = ηimin + (ηimax − ηimin )(1 + cos ( π )) (3)
2 Ti
where ηimin and ηimax are ranges for the learning rate, and Tcur
accounts for how many epochs have been performed since the last
restart.
3.2 Swish
Swish[18] is a self-gated activation function, defined as follows:
Swish(x) = xσ (βx)
where σ (·) is sigmoid function and β is either a constant or a train-
able parameter. Figure 2 plots the graph of Swish for different values
of β. When β = 0, Swish becomes a linear function f (x) = x/2.
When β = 1, Swish is approximately linear as x > 0 and approx-
imately saturated as x < 0. If β → +∞, σ (βx) approaches a 0-1
function. Swish can be loosely viewed as a smooth function which
nonlinearly interpolates between the linear function and the ReLU
function. In the paper, β is 1.
3.3 GIoU
IoU , also known as Jaccard index, is the most commonly used
metric for comparing the similarity between two arbitrary shapes.
However, IoU as both a metric and a loss has two issues: one is
that IoU cannot correctly distinguish between different alignments
of two objects. If two objects overlap in different directions and
the intersections are at the same level, IoU s will be exactly equal.
Another is if two objects do not overlap, the IoU value will be zero
and not reflect how far the two shapes are from each other. In the
case of non-overlapping objects, if IoU is used as a loss, its gradient
will be zero and cannot be optimized.
ACM TURC’20, May 22–24, 2020, Hefei, China
Figure 2: Swish with different β
GIoU [19] (Generalized Intersection over Union) not only has the
same characteristics as IoU , but also makes up for drawbacks of
IoU . The calculation of GIoU is summarized in Alg 1.
Algorithm 1 Generalized Intersection over Union
Input: Two arbitrary convex shapes: A, B ⊆ S ∈ Rn ;
Output: GIoU ;
1: For A and B, find the smallest enclosing convex C, C ⊆ S ∈ Rn .
|A∩B |
2: IoU = |A∪B | ;
|C\(A∪B)|
3: GIoU = IoU − |C | ;
Compared with IoU , GIoU need to find the smallest convex
shapes C enclosing both A and B. Therefore, when two arbitrary
convex shapes do not overlap, the GIoU can still be calculated,
which solves the problem that the IoU is not suitable as a loss
function and better reflects how they overlap.
For 2D object detection tasks (such as comparing two axis-
aligned bounding boxes), GIoU has a straightforward solution.
(4)
In this case, the intersection and the smallest enclosing objects
both have rectangular shapes. The coordinates of their vertices
are simply the coordinates of one of the two bounding boxes be-
ing compared, which can be attained by comparing each vertices’
coordinates by minimum and maximum functions.
3.4 Mixup
Deep neural networks generally require a large amount of training
data in order to obtain better results. When the number of data is
limited, increasing the amount of data through data augmentation
can improve the robustness of the model and avoid overfitting.
While traditional data augmentation methods such as flip and
crop are dataset-dependent and thus require expert knowledge.
Mixup[20] is dataset-independent way for data augmentation:
x̃ = λx i + (1 − λ)x j
(5)
ỹ = λyi + (1 − λ)y j
(x i , yi ) and (x j , y j ) are two examples drawn at random from our
training data and λ ∈ [0, 1]. Therefore, mixup extends the training
distribution by incorporating the prior knowledge that linear in-
terpolations of feature vectors should lead to linear interpolations
ACM TURC’20, May 22–24, 2020, Hefei, China
of the associated objects. The mixup vicinal distribution can be
understood as a form of data augmentation that encourages the
model to behave linearly in-between training examples. This linear
behaviour reduces the amount of undesirable oscillations when
predicting outside the training examples.
3.5 Assisted Excitation
YOLOv3 faces two challenges[21]. One is difficulty in localization,
another is extreme imbalance of positive and negative samples.
Localization problems occur because classification and localization
in YOLOv3 are performed simultaneously. Dense sliding window of
single-stage detectors cause the imbalance of positive and negative
samples.
Base on the idea of curriculum learning[22] that if we learn
simpler tasks first and then continue to perform more complex
tasks, we will get better performance in terms of local-minima and
generalization. The technology is only suitable for learning process
and the excitation factor is gradually decreased, so it will not affect
the speed of detection.
First, the bounding box mapping д is defined as follows:
1, I f some bbox exists at cell(i, j)

д(i, j) = (6)
0, I f no bbox exists at cell(i, j)
An assisted excitation module can be described as follows:
+1
al(c,i,j) = al(c ,i,j) + α(t)e (c,i,j) (7)
where al and al +1 are activation tensors at levels l and l + 1. e is
excitation tensor and α is excitation factor that bases on the number
of epoch t. Also (c, i, j) refer to channel number, row and column.
During training, α(t) starts with a nonzero value for initial epochs
and gradually decays to zero. e is a function of al and ground-truth.
The excitation e in bounding box locations can use different
strategies. However, its performance is best when stimulated by
the shared information of bounding box locations on all channels.
Excitation tensor e is computed as follows:
d
д(i, j) Õ
e (c,i,j) = a (8)
d c=1 (c ,i,j)
where d represents the number of feature channels. The decay
function over time is as follows:
1 + Cos(π .t)
α(t) = .5 × (9)
Max_Iteration
The effect of applying segmentation function will decay to 0, which
is equivalent to detection network of original YOLO.
4 RESULTS OF EXPERIMENT
4.1 Experimental Setup
In the experiments, we use the X-ray contraband image dataset
which is from Jinnan digital manufacturing algorithm challenge
of Tianchi competition. The dataset contains five classes of contra-
band, including iron shell lighter, black nail lighter, knife, battery
capacitance and scissors. There are 981 training images and 1194
test images with the resolution of about 96 pixels by 96 pixels. Each
picture contains more than one class of contraband.
We use YOLOv3 as the experimental framework to prove ef-
fectiveness of X-YOLO. Some models may overfit during training
Haoyue Wang, Wei Wang, and Yao Liu
process due to the limitation of data, thus we use data augmenta-
tion methods such as horizontal flip, random cut, color distortion
and random sampling to increase the amount of data. Finally, 9810
images are divided into training and validation sets, with a propor-
tion of 4: 1. The path enhancement[23] is designed to shorten the
information path between the lower layer and the uppermost layer.
Moreover, we add antialiasing[24] which is a software technique
for diminishing jaggies.
We set the number of categories to 6 and size of network input
to 544 × 544. We experiment with batch size of 64, subdivision of
16 and initial learning rate of 0.001.
The bounding box priors of X-YOLO are determined using k-
means clustering and 12 cluster centers are obtained. The 12 clusters
are : (8×8), (10×13), (16×30), (33×23), (32×32), (30×61), (62×45),
(59×119), (80×80), (116×90), (156×198), (373×326) on the dataset.
The experiments are implemented using NVIDIA TITAN Xp and
PyTorch environment.
Figure 3: X-ray image
4.2 Evaluation Criteria
Mean average precision (mAP), an evaluation criteria, is used to
evaluate the performance of models. It is calculated based on pre-
cision and recall. Precision and recall are calculated according to
equation(10) and equation(11) respectively.
TP
precision = (10)
TP + FP
TP
recall = (11)
TP + FN
Here, TP, true positive, is an outcome where the model correctly
predicts the positive class. FP, false positive, is an outcome where
the model incorrectly predicts the positive class. FN, false negative,
is an outcome where the model incorrectly predicts the negative
class.
We define samples with both GIoU and classification probability
greater than 0.5 are positive samples. Average precision(AP) is the
area under precision-recall curve, that is the integral of precision-
recall curve, as shown in equation(12). Actually, we can get AP
like equation(13) through calculating the area of several rectangles
under precision-recall curve. Based on AP, mAP can be expressed
as equation(14), where N is the number of classes of contraband in
the dataset.
X-YOLO: A deep learning based toolset with multiple optimization strategies for contraband detection ACM TURC’20, May 22–24, 2020, Hefei, China

∫ 1 of much contraband and different classes of much contraband in

AP = p(r ) dr (12) the images.
0
n
1 Õ
AP = max r ∈[ i −1 , i ]p(r ) (13)
n i=1 n n
ÍN
AP(n)
mAP = n=1 (14)
N
4.3 Results
The changes of loss during training are shown in Figure 4. Com-
pared with YOLOv3 with some of optimization strategie(s) and
other models, X-YOLO has similar convergence ability.

(a)

(a) Faster R-CNN

(b) (c)

Figure 5: Detection results

We use mAP to evaluate performance of the models. The com-

parison results are shown in Fig 6. The performance of X-YOLO is
(b) SSD better than that of other models. It achieves mAP up to 96.02% and
recall up to 98.55%, which is 1.32% and 2.69% higher than YOLOv3
respectively.

(c) YOLOv1&v2&v3

Figure 6: Model performance comparison

(d) Comparison of X-YOLO and YOLOv3
with some of optimization strategies
Figure 4: The loss of models
The results of X-YOLO contraband detection are shown in Fig 5.
X-YOLO can not only identify the classes and locations of contra-
band, but also handle a single class of contraband, the same class
The results of experiment show that SSD, YOLOv1, YOLOv2 and
Tiny-YOLO are not suitable for contraband detection, even the mAP
of SSD does not reach 70.0%. Faster R-CNN, YOLOv3, YOLOv3-tiny
and YOLOv3-spp achieve certain effects for contraband detection.
The detection effect of YOLOv3 with some of optimization strategies
of X-YOLO can be improved to varying degrees. In short, X-YOLO
is the best for contraband detection.
ACM TURC’20, May 22–24, 2020, Hefei, China Haoyue Wang, Wei Wang, and Yao Liu

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