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All Journal International Journal of Electrical and Computer Engineering Bulletin of Electrical Engineering and Informatics Jurnal Algoritma Khazanah Informatika: Jurnal Ilmu Komputer dan Informatika Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Dinamisia: Jurnal Pengabdian Kepada Masyarakat JURNAL TEKNIK INFORMATIKA DAN SISTEM INFORMASI CARADDE: Jurnal Pengabdian Kepada Masyarakat Jurnal Sistem Cerdas Jurnal Abdi Insani Indonesian Journal of Electrical Engineering and Computer Science Journal of Energy and Electrical Engineering (JEEE) Jurnal Teknik Informatika (JUTIF) Teknika Mosharafa: Jurnal Pendidikan Matematika Transformasi Algoritme Jurnal Mahasiswa Teknik Informatika Konstelasi: Konvergensi Teknologi dan Sistem Informasi Jurnal Algoritma Fuse-teknik Elektro MDP Student Conference
Helfy Susilawati
Fakultas Teknik Universitas Garut
Agriculture, Biological Sciences & Forestry Automotive Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Health Professions Languange, Linguistic, Communication & Media Law, Crime, Criminology & Criminal Justice Mathematics Social Sciences Other

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Journal : MDP Student Conference

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Custom LiDAR Dataset for 3D Object Recognition in Restricted Spaces Using Voxel-RCNN Firman, Firman; Susilawati, Helfy; Setyawan, Arief Suryadi; Haqiqi, Mokh. Mirza Etnisa
MDP Student Conference Vol 4 No 1 (2025): The 4th MDP Student Conference 2025
Publisher : Universitas Multi Data Palembang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35957/mdp-sc.v4i1.11209

Abstract

Autonomous vehicles play a crucial role in logistics, agriculture, and warehousing, requiring precise object detection and recognition for safe navigation in confined spaces. Traditional 2D sensor-based methods and simple LiDAR applications often struggle with depth perception and classification accuracy, limiting real-time decision-making. This study addresses these challenges by developing a custom LiDAR-based dataset for object recognition within the Voxel-RCNN framework, focusing on six object categories to enhance recognition accuracy. The Voxel-RCNN model was trained on this custom dataset without architectural modifications, assessing its generalization to non-standard data and performance in constrained environments. The training process demonstrated stable convergence, with loss decreasing from 6.09 to 2.37 after 600 epochs. Quantitative evaluations using BEV and 3D Average Precision (AP) revealed strong performance in detecting structured objects like cars (68.14% BEV AP, 55.83% 3D AP in Easy cases) but significant challenges with occluded and irregularly shaped objects such as trees and cyclists. Despite these challenges, the study highlights the potential of Voxel-RCNN for 3D object recognition in autonomous navigation. Future improvements include dataset augmentation, multi-scale feature fusion, and advanced voxelization techniques to enhance recognition performance. These findings contribute to the advancement of LiDAR-based perception systems, supporting safer and more intelligent autonomous vehicle operations.
Co-Authors Ade Rukmana Ade Rukmana Adhitya Yusuf Wibysono Adiatma, Dani Aeni, Dinda Noorfaidah Afina Carmelya, Anindya Ahmad Noor Jaman ahmad rizal Akhmad Fauzi Ikhsan Akhmad Fauzi Ikhsan Alfaz Arva Baihaqi Aloysius Adya Pramudita Artemysia, Khaulyca Arva Baihaqi, Alfaz Arva Dani Prasetyo Adi, Puput Dhiky Juansyah Dinda Noorfaidah Aeni Dini Fajriani Etnisa, Moch Mirza Evi Novitasari Fadillah, Ardi Fajriani, Dini Fauzi, Moch Zulfi Fazri, Nurul Firman Firman Firman Fitri Nuraeni Galura Muhammad Suranegara Ghofur, Shaefan Afuan Ginaldi Ari Nugroho Gusman, Dilla Oktaviani Hamdani, Nizar Alam Haqiqi, Mokh. Mirza Etnisa Iik Muhammad Malik Matin Iik Muhammad Malik Matin Ikhsan, Akhmad Fauzi Jaman, Ahmad Noor Juansyah, Dhiky Juniawan, Ega Rizki Khoerunnisa, Ica Latukolan, Merlyn Inova Christie Lubis, Anggi Muhammad M.Angdarun, M.Angdarun Malikmatin, Iik Muhammad Matin, Iik Muhammad Malik Mirza Etnisa Haqiqi, Mokhamamad Muhamad, Reza Muhammad Ihsan Mutmainah, Rina Nasrullah Armi Novitasari, Evi Nurdin, Agung Ihwan Nurfalah, Rifki Nurfitriani, Nabila Nurichsan, Irman Reza Muhamad Rifki Nurfalah Rina Mutmainah RR. Ella Evrita Hestiandari Rukmana, Ade Samie, Muhammad Ikbal Satyawan, Arief Suryadi Sediono, Wahju Setyawan, Arief Suryadi Shaefan Afuan Ghofur Shamie, M. Ikbal Sifa Nurpadillah Sobari, Acep Hasan Sopian, Sani Moch Sopian, Sani Moch. Sri Nuraeni, Sri Sugandi, Gandi Sunardi, Dede Suryadi Satyawan, Arief Syarif Saeful Yusup Tri Arif Wiharso TRI ARIF WIHARSO Wibysono, Adhitya Yusuf Wiharso, Tri Arif Wiwik Handayani Yusup, Syarif Saeful