# Comparison Of Deep Object Detectors On A New Vulnerable Pedestrian Dataset

arXiv: https://arxiv.org/abs/2212.06218 · HTML: https://mlsanity.com/paper/2212.06218/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 33 references that are in the map.
- First posted on arXiv 12 Dec 2022.

## Builds on (most cited first, 14 of 14)

- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [EfficientDet: Scalable and Efficient Object Detection](https://mlsanity.com/paper/1911.09070/) (2019)
- [CityPersons: A Diverse Dataset for Pedestrian Detection](https://mlsanity.com/paper/1702.05693/) (2017)
- [A Richly Annotated Dataset for Pedestrian Attribute Recognition](https://mlsanity.com/paper/1603.07054/) (2016)
- [Top-view Trajectories: A Pedestrian Dataset of Vehicle-Crowd Interaction from Controlled Experiments and Crowded Campus](https://mlsanity.com/paper/1902.00487/) (2019)
- [Adversarial Attack and Defense of YOLO Detectors in Autonomous Driving Scenarios](https://mlsanity.com/paper/2202.04781/) (2022)
- [The P-DESTRE: A Fully Annotated Dataset for Pedestrian Detection, Tracking, Re-Identification and Search from Aerial Devices](https://mlsanity.com/paper/2004.02782/) (2020)

## Built on by (most cited first, 3 of 3)

- [Vulnerable Road User Detection and Safety Enhancement: A Comprehensive Survey](https://mlsanity.com/paper/2405.19202/) (2024)
- [Semantic and Articulated Pedestrian Sensing Onboard a Moving Vehicle](https://mlsanity.com/paper/2309.06313/) (2023)
- [No Pedestrian Left Behind: Real-Time Detection and Tracking of Vulnerable Road Users for Adaptive Traffic Signal Control](https://mlsanity.com/paper/2604.25887/) (2026)

## Abstract (arXiv)

Pedestrian safety is one primary concern in autonomous 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 comprehensive 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. Our dataset and codes are available at https://github.com/devvansh1997/BGVP.