This project is constructed for building an object classification and recognition system using LiDAR data collected in a simulated environment with both moving and stationary objects. The primary concern is developing a Convolutional Neural Network (CNN) model that accurately recognizes the various types of objects, such as humans, robots, and vehicles, that it detects. The intent of this system is to help autonomous mobile robots navigate the real world more effectively and safely. The driving force behind this project is closely tied to the emerging role of autonomous robots across various fields.