用激光雷达与AR头显为行人实时预警，提升城市出行安全
ARCAS: An Augmented Reality Collision Avoidance System with SLAM-Based Tracking for Enhancing VRU Safety
- 融合路边激光雷达与头戴设备追踪，实现精准空间定位
- 实测中行人避撞时间接近翻倍，对手反应余量最高提升4倍
- 适合城市交通中骑行者、行人等弱势道路使用者使用
弱势道路使用者（VRUs）在混合交通环境中面临高碰撞风险，但现有安全系统多聚焦驾驶员或车辆辅助，缺乏对行人的直接支持。本文提出ARCAS，一种基于增强现实（AR）的实时碰撞规避系统，通过可穿戴AR头显为行人提供个性化空间警示。系统融合路边360°三维激光雷达与基于SLAM的头显追踪，并采用自动3D校准流程，将世界锁定的3D边界框和方向箭头精准叠加至用户透视视野中的潜在危险物上。系统还通过共享世界锚点实现多头显协同。在真实场景下对行人与电动滑板车及车辆交互进行测试（共180次试验），结果显示，相比无辅助视觉状态，ARCAS使行人的平均碰撞时间几乎翻倍，同时显著提升其他交通参与者的反应余量，最高达4倍。结果验证了激光雷达驱动的AR引导方案的可行性与有效性，凸显可穿戴AR作为下一代城市出行安全工具的巨大潜力。
原文摘要 · Abstract (English)
Vulnerable road users (VRUs) face high collision risks in mixed traffic, yet most existing safety systems prioritize driver or vehicle assistance over direct VRU support. This paper presents ARCAS, a real-time augmented reality (AR) collision avoidance system that provides personalized spatial alerts to VRUs via wearable AR headsets. By fusing roadside 360° 3D LiDAR with SLAM-based headset tracking and an automatic 3D calibration procedure, ARCAS accurately overlays world-locked 3D bounding boxes and directional arrows onto approaching hazards in the user's passthrough view. The system also enables multi-headset coordination through shared world anchoring. Evaluated in real-world pedestrian interactions with e-scooters and vehicles (180 trials), ARCAS nearly doubles pedestrians' time to collision and increases counterparts' reaction margins by up to 4x compared to unaided eye conditions. Results validate the feasibility and effectiveness of LiDAR-driven AR guidance and highlight the potential of wearable AR as a promising next generation safety tool for urban mobility.
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