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All Journal Jurnal RESTI (Rekayasa Sistem dan Teknologi Informasi) International Journal of Robotics and Control Systems
Osamu Fukuda
Saga University
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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Real-Time Obstacle Detection for Unmanned Surface Vehicle Maneuver Anik Nur Handayani; Ferina Ayu Pusparani; Dyah Lestari; I Made Wirawan; Aji Prasetya Wibawa; Osamu Fukuda
International Journal of Robotics and Control Systems Vol 3, No 4 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i4.1147

Abstract

The rapid advancement and increasing demand for Unmanned Surface Vehicle (USV) technology have drawn considerable attention in various sectors, including commercial, research, and military, particularly in marine and shallow water applications. USVs have the potential to revolutionize monitoring systems in remote areas while reducing labor costs. One critical requirement for USVs is their ability to autonomously integrate Guidance, Navigation, and Control (GNC) technology, enabling self-reliant operation without constant human oversight. However, current study for USV shown the use of traditional method using color detection which is inadequate to detect object with unstable lighting condition. This study addresses the challenge of enabling Autonomous Surface Vehicles (ASVs) to operate with minimal human intervention by enhancing their object detection and classification capabilities. In dynamic environments, such as water surfaces, accurate and rapid object recognition is essential. To achieve this, we focus on the implementation of deep learning algorithms, including the YOLO algorithm, to empower USVs with informed navigation decision-making capabilities. Our research contributes to the field of robotics by designing an affordable USV prototype capable of independent operation characterized by precise object detection and classification. By bridging the gap between advanced visualization techniques and autonomous USV technology, we envision practical applications in remote monitoring and marine operations with object detection. This paper presents the initial phase of our research, emphasizing significance of deep learning algorithms for enhancing USV navigation and decision-making in dynamic environmental conditions, resulting in mAP of 99.51%, IoU of 87.80%, error value of the YOLOv4-tiny image processing algorithm is 0.1542.
Comparative Analysis of YOLOv8 Segmentation Variants for Indonesian Sign Language (SIBI) Recognition Desi Fatkhi Azizah; Anik Nur Handayani; Aji Prasetya Wibawa; Osamu Fukuda
Jurnal RESTI (Rekayasa Sistem dan Teknologi Informasi) Vol 10 No 2 (2026): April 2026
Publisher : Ikatan Ahli Informatika Indonesia (IAII)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.29207/resti.v10i2.7500

Abstract

The Indonesian Sign Language System (SIBI) is the officially recognized communication medium for deaf communities in Indonesia, yet its limited public use continues to create barriers in education, healthcare, and public services. Automatic sign language recognition powered by artificial intelligence provides a promising pathway to reduce these inequities. This study presents a comprehensive comparative evaluation of YOLOv8 segmentation variants for SIBI recognition, aiming to identify models that stabilize accuracy and efficiency for real-time deployment. A mono-background dataset of SIBI alphabet gestures was annotated using instance segmentation, and five YOLOv8-seg models (n, s, m, l, x) were trained and tested across multiple data-split scenarios. Performance was assessed through precision, recall, F1-score, mAP50, mAP50–95, and inference time. Results show that YOLOv8m-seg consistently achieved the best trade-off (F1-score 0.972; mAP50 0.982), while YOLOv8n-seg delivered the fastest inference speed (5.163 ms), making it suitable for resource-constrained devices. Visualization further demonstrated the models’ ability to capture hand contours and distinguish gestures accurately. Beyond technical benchmarking, this research highlights the potential of YOLOv8-based SIBI recognition as an inclusive assistive technology for bridging communication gaps in schools and clinics where interpreters are often unavailable. It also identifies governance challenges, including privacy protection, misclassification risks, and equitable access, which must be addressed for actual adoption. The findings, therefore, provide not only a contribution to computer vision research but also practical guidance for policymakers and service providers, positioning SIBI recognition systems as socially embedded technologies aligned with the goals of disability inclusion and sustainable development.
Co-Authors Aji Prasetya Wibawa Anik Nur Handayani Desi Fatkhi Azizah Dyah Lestari Ferina Ayu Pusparani I Made Wirawan