Vulnerable Road User Detection for Roadside-Assisted Safety Protection: A Comprehensive Survey

In recent years, the safety of vulnerable road users (VRUs), such as pedestrians, cyclists, and micro-mobility users, has become an increasingly significant concern in urban transportation systems worldwide. Reliable and accurate detection of VRUs is essential for effective safety protection. This survey explores the techniques and methodologies used to detect VRUs, ranging from conventional methods to state-of-the-art (SOTA) approaches, with a primary focus on infrastructure-based detection. This study synthesizes findings from recent research papers and technical reports, emphasizing sensor modalities such as cameras, LiDAR, and RADAR. Furthermore, the survey examines benchmark datasets used to train and evaluate VRU detection models. Alongside innovative detection models and sufficient datasets, key challenges and emerging trends in algorithm development and dataset collection are also discussed. This comprehensive overview aims to provide insights into current advancements and inform the development of robust and reliable roadside detection systems to enhance the safety and efficiency of VRUs in modern transportation systems.