What Demands Attention in Urban Street Scenes? From Scene Understanding towards Road Safety: A Survey of Vision-driven Datasets and Studies

Yaoqi Huang; Julie Stephany Berrio; Mao Shan; Stewart Worrall

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arXiv · 2507.06513

What Demands Attention in Urban Street Scenes? From Scene Understanding towards Road Safety: A Survey of Vision-driven Datasets and Studies

Yaoqi Huang·Julie Stephany Berrio·Mao Shan·Stewart Worrall

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Abstract

Advances in vision-based sensors and computer vision algorithms have significantly improved the analysis and understanding of traffic scenarios. To facilitate the use of these improvements for road safety, this survey systematically categorizes the critical elements that demand attention in traffic scenarios and comprehensively analyzes available vision-driven tasks and datasets. Compared to existing surveys that focus on isolated domains, our taxonomy categorizes attention-worthy traffic entities into two main groups that are anomalies and normal but critical entities, integrating ten categories and twenty subclasses. It establishes connections between inherently related fields and provides a unified analytical framework. Our survey highlights the analysis of 35 vision-driven tasks and comprehensive examinations and visualizations of 73 available datasets based on the proposed taxonomy. The cross-domain investigation covers the pros and cons of each benchmark with the aim of providing information on standards unification and resource optimization. Our article concludes with a systematic discussion of the existing weaknesses, underlining the potential effects and promising solutions from various perspectives. The integrated taxonomy, comprehensive analysis, and recapitulatory tables serve as valuable contributions to this rapidly evolving field by providing researchers with a holistic overview, guiding strategic resource selection, and highlighting critical research gaps.

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Yaoqi Huang, Julie Stephany Berrio, Mao Shan, Stewart Worrall. 2026-05-26. What Demands Attention in Urban Street Scenes? From Scene Understanding towards Road Safety: A Survey of Vision-driven Datasets and Studies. https://arxiv.org/abs/2507.06513

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