people
收藏资源简介：
Pedestrian safety is one primary concern in au- tonomous driving. The under-representation of vulnerable groups in today’s pedestrian datasets points to an urgent need for a dataset of vulnerable road users. In order to help train com- prehensive models and subsequently drive research to improve the accuracy of vulnerable pedestrian identification, we first introduce a new dataset for vulnerable pedestrian detection in this paper: the BG Vulnerable Pedestrian (BGVP) dataset. The dataset includes four classes, i.e., Children Without Disability, Elderly without Disability, With Disability, and Non-Vulnerable. This dataset consists of images collected from the public domain and manually-annotated bounding boxes. In addition, on the proposed dataset, we have trained and tested five classic or state-of-the-art object detection models, i.e., YOLOv4, YOLOv5, YOLOX, Faster R-CNN, and EfficientDet. Our results indicate that YOLOX and YOLOv4 perform the best on our dataset, YOLOv4 scoring 0.7999 and YOLOX scoring 0.7779 on the mAP 0.5 metric, while YOLOX outperforms YOLOv4 by 3.8 percent on the mAP 0.5:0.95 metric. Generally speaking, all five detectors do well predicting the With Disability class and perform poorly in the Elderly Without Disability class. YOLOX consistently outperforms all other detectors on the mAP (0.5:0.95) per class metric, obtaining 0.5644, 0.5242, 0.4781, and 0.6796 for Children Without Disability, Elderly Without Disability, Non- vulnerable, and With Disability, respectively.
行人安全是自动驾驶领域的核心关切之一。当前主流行人数据集对弱势群组的代表性不足，这凸显了构建弱势道路使用者数据集的迫切需求。为助力训练全面性模型，进而推动相关研究以提升弱势行人识别精度，本文首次提出了一款用于弱势行人检测的全新数据集：BG弱势行人（BG Vulnerable Pedestrian, BGVP）数据集。该数据集共包含四个类别，分别为非残疾儿童、非残疾老年人、残疾行人以及非弱势行人。本数据集的图像均采集自公开领域，并附带人工标注的边界框。此外，我们基于所提出的数据集，对五款经典或当前最优的目标检测模型进行了训练与测试，分别为YOLOv4、YOLOv5、YOLOX、Faster R-CNN以及EfficientDet。实验结果表明，YOLOX与YOLOv4在本数据集上表现最优：YOLOv4在平均精度均值（mean Average Precision, mAP）@0.5指标上得分为0.7999，YOLOX得分为0.7779；而在mAP@0.5:0.95指标上，YOLOX较YOLOv4领先3.8个百分点。总体而言，五款检测器在残疾行人类别的识别表现均较为优异，而在非残疾老年人类别上的表现欠佳。在逐类别mAP@0.5:0.95指标上，YOLOX始终优于其余四款检测器，其在非残疾儿童、非残疾老年人、非弱势行人以及残疾行人四个类别上的得分分别为0.5644、0.5242、0.4781与0.6796。
