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.

翻译：行人安全是自动驾驶领域的核心关注点之一。当前行人数据集中弱势群体的代表性不足，凸显了构建脆弱道路使用者数据集的迫切需求。为帮助训练更全面的模型，进而推动研究以提升脆弱行人识别精度，本文首先引入了一个用于脆弱行人检测的新数据集：BG脆弱行人数据集。该数据集包含四类目标：无残疾儿童、无残疾老年人、残疾人群及非脆弱人群。数据集由公共领域采集的图像及人工标注的边界框组成。此外，我们在该数据集上训练并测试了五种经典或最先进的目标检测模型：YOLOv4、YOLOv5、YOLOX、Faster R-CNN和EfficientDet。结果表明，YOLOX和YOLOv4在数据集上表现最佳，其中YOLOv4在mAP 0.5指标上得分为0.7999，YOLOX得分为0.7779；但在mAP 0.5:0.95指标上，YOLOX以3.8%的优势优于YOLOv4。总体而言，所有五种检测器对残疾类别预测效果良好，而对无残疾老年人预测效果较差。在各类别的mAP（0.5:0.95）指标上，YOLOX持续优于其他检测器：对无残疾儿童、无残疾老年人、非脆弱人群及残疾类别分别达到0.5644、0.5242、0.4781和0.6796。我们的数据集与代码已开源至 https://github.com/devvansh1997/BGVP。