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Ridlwan, Muhammad
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Journal : Khazanah Informatika : Jurnal Ilmu Komputer dan Informatika

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Region Enhanced Edge-Based Multi-Class Object Proposal for Self-Driving Vehicles Haq, Muhamad Amirul; Huy, Le Nam Quoc; Ridlwan, Muhammad
Khazanah Informatika : Jurnal Ilmu Komputer dan Informatika Vol. 11 No. 1 (2025): April 2025
Publisher : Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/khif.v11i1.4662

Abstract

On-road object detection is a fundamental element for the safety and reliability of autonomous driving systems. A primary challenge is developing object detection algorithms that are both fast and robust. This paper introduces a novel object proposal algorithm, named Region Enhanced Edge-Based (REEB) proposal, designed to accelerate object detection by significantly reducing the number of candidate regions requiring evaluation by a subsequent classification network. REEB leverages edge-map cues to score and rank initial proposals. To further enhance both detection quality and processing speed, the algorithm integrates efficient complementary techniques: image entropy is used to guide proposal generation density in relevant image regions, and road segmentation aids in refining proposal scores by differentiating road from non-road areas. Experimental evaluations on the KITTI dataset demonstrate that REEB achieves an average recall rate of 72.1% across four classes (pedestrian, cyclist, car, and truck) with an average processing time of 15 milliseconds per image. These results indicate strong performance when compared to other traditional, non-deep learning object proposal algorithms.
Co-Authors Aynin Mashfufah Eddy Sutadji Haq, Muhamad Amirul Huy, Le Nam Quoc Kusumajanti, Wahju Maghfiroh, Laily Rofi'atul Maulidiyah, Yuli Naila, Ishmatun Nurdianah, Lutfiyan Pheni Cahya Kartika, Pheni Cahya Suher, Suher