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Study Comparison of Semantic Segmentation for RGB-D Borobudur Temple Bas-Relief Images

Aug 2026 · 2026 International Workshop on Intelligent Systems (IWIS) · pp. 1-5 · 0 citations · 27 references

Abstract

Cultural heritage preservation increasingly relies on AI-driven semantic segmentation to document and analyze intricately carved stone reliefs. This paper is the first to do a systematic benchmarking study of five deep CNN architectures: DeepLabV3+, PSPNet, SegNet, DenseUNet, and U-Net. We changed these architectures so they could work with four-channel RGB-D input and tested them on a multi-class Borobudur bas-relief dataset with eight semantic categories. All of the models use the same way to train, which is a compound FocalDiceLoss with a clear background exclusion. A multi-dimensional evaluation framework includes the following: segmentation accuracy (mIoU, F1, pixel accuracy), convergence dynamics, parameter efficiency, per-class IoU, qualitative overlay analysis, and pixel-level error mapping. The best mIoU (0.4990), the lowest validation loss (1.1524), the best stability (sigma=0.00068), and the lowest pixel error rate (15.1%) are all found in DeepLabV3+.

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