# Urban Risk-Aware Navigation via VQA-Based Event Maps for People with Low Vision

arXiv: https://arxiv.org/abs/2605.11782 · HTML: https://mlsanity.com/paper/2605.11782/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Driving VLMs and open-vocabulary detection, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 27 of its 43 references that are in the map.
- First posted on arXiv 12 May 2026.

## Placed in

- Multimodal LLMs / vision-language models / [Driving VLMs and open-vocabulary detection](https://mlsanity.com/mllm/driving-vlms-and-open-vocabulary-detection/)

## Builds on (most cited first, 27 of 27)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [InstructBLIP: Towards General-purpose Vision-Language Models with Instruction Tuning](https://mlsanity.com/paper/2305.06500/) (2023)
- [VQA: Visual Question Answering](https://mlsanity.com/paper/1505.00468/) (2015)
- [ViLT: Vision-and-Language Transformer Without Convolution or Region Supervision](https://mlsanity.com/paper/2102.03334/) (2021)
- [VizWiz Grand Challenge: Answering Visual Questions from Blind People](https://mlsanity.com/paper/1802.08218/) (2018)
- [Unleashing Text-to-Image Diffusion Models for Visual Perception](https://mlsanity.com/paper/2303.02153/) (2023)
- [Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation](https://mlsanity.com/paper/2403.17846/) (2024)
- [3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans](https://mlsanity.com/paper/2002.06289/) (2020)
- [Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives](https://mlsanity.com/paper/2303.09824/) (2023)
- [Bird's-Eye-View Scene Graph for Vision-Language Navigation](https://mlsanity.com/paper/2308.04758/) (2023)
- [A Survey on Open-Vocabulary Detection and Segmentation: Past, Present, and Future](https://mlsanity.com/paper/2307.09220/) (2023)
- [TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs](https://mlsanity.com/paper/2207.05006/) (2022)
- [CLIP-VG: Self-paced Curriculum Adapting of CLIP for Visual Grounding](https://mlsanity.com/paper/2305.08685/) (2023)
- [Optimal Scene Graph Planning with Large Language Model Guidance](https://mlsanity.com/paper/2309.09182/) (2023)
- [VIALM: A Survey and Benchmark of Visually Impaired Assistance with Large Models](https://mlsanity.com/paper/2402.01735/) (2024)
- [LaMI-DETR: Open-Vocabulary Detection with Language Model Instruction](https://mlsanity.com/paper/2407.11335/) (2024)
- [WalkVLM:Aid Visually Impaired People Walking by Vision Language Model](https://mlsanity.com/paper/2412.20903/) (2024)
- [Is it safe to cross? Interpretable Risk Assessment with GPT-4V for Safety-Aware Street Crossing](https://mlsanity.com/paper/2402.06794/) (2024)
- [Dynamic Channel: A Planning Framework for Crowd Navigation](https://mlsanity.com/paper/1903.00143/) (2019)
- [GuideDog: A Real-World Egocentric Multimodal Dataset for Blind and Low-Vision Accessibility-Aware Guidance](https://mlsanity.com/paper/2503.12844/) (2025)
- [Generating Contextually-Relevant Navigation Instructions for Blind and Low Vision People](https://mlsanity.com/paper/2407.08219/) (2024)
- [Deep Leaning-Based Ultra-Fast Stair Detection](https://mlsanity.com/paper/2201.05275/) (2022)
- [Group Surfing: A Pedestrian-Based Approach to Sidewalk Robot Navigation](https://mlsanity.com/paper/2104.05933/) (2021)
- [Seamless Outdoor-Indoor Pedestrian Positioning System with GNSS/UWB/IMU Fusion: A Comparison of EKF, FGO, and PF](https://mlsanity.com/paper/2512.10480/) (2025)

## Built on by (most cited first, 1 of 1)

- [From Seeing to Acting: Smart Glasses as First-Person Intelligence Platforms](https://mlsanity.com/paper/2608.24877/) (2026)

## Abstract (arXiv)

Visual impairment affects hundreds of millions of people worldwide, severely limiting their ability to navigate urban environments safely and independently. While wearable assistive devices offer a promising platform for real-time hazard detection, existing approaches rely on task-specific vision pipelines that lack flexibility and generalizability. In this work, we propose an event map framework based on visual question answering that leverages Vision-Language Models (VLMs) for pedestrian scene description and hazard identification across diverse real-world environments, using a three-level hierarchical query structure to enable fine-grained scene understanding without task-specific retraining. Model responses are aggregated into a weighted risk scoring system that maps street segments into four discrete safety categories, producing navigable risk-aware event maps for route planning. To support evaluation and future research, we introduce a geographically diverse dataset spanning 20 cities across six continents, comprising over 800 annotated images and 18,000 answered questions. We benchmark four VQA architectures -ViLT, LLaVA, InstructBLIP, and Qwen-VL- and find that generative Multimodal Large Language Models (MLLMs) substantially outperform classification-based approaches, with Qwen-VL achieving the best overall balance of precision and recall. These results demonstrate the viability of MLLMs as a flexible and generalizable foundation for assistive navigation systems for visually impaired people.