From Camera-Based Sensing to Reasoning: A Comprehensive Review Toward Proactive Vulnerable Road User Safety

תקציר מקורי באנגליתarXiv:2510.03314v2 Announce Type: replace-cross Abstract: Ensuring the safety of vulnerable road users (VRUs), such as pedestrians and cyclists, remains a critical challenge, as conventional infrastructure-based measures are often insufficient in dynamic urban environments. Recent advances in learning-based visual sensing systems have created new opportunities for more adaptive and context-aware VRU protection. This paper presents a comprehensive review of camera-based methods for proactive VRU safety, with a focus on developments over the past five years. Unlike prior surveys that primarily emphasize detection, we organize the literature into three interconnected components: visual perception (detection and classification), motion modeling (tracking and trajectory prediction), and behavio