Vulnerable Road Users (VRUs) are involved in a significant proportion of traffic fatalities, and they are highly exposed to severe injuries in urban traffic environments. For detecting and tracking VRUs, LiDAR technology offers precise 3D perception capabilities, overcoming challenges posed by their small size, dynamic behavior, and frequent presence in occluded or congested areas. This work aims to conduct a scoping review of LiDAR-based solutions for preventing and reducing accidents involving VRUs, synthesizing current methodologies, evaluating detection and tracking approaches, and identifying strategies to improve urban safety through data-driven interventions. An analysis of 49 publications indicates that effective monitoring of VRUs depends on a strategic balance between technological performance and practical limitations, such as system costs, calibration complexity, and hardware constraints. Privacy-preserving techniques, such as anonymization and LiDAR-based sensing, are essential to enable ethically responsible large-scale data collection.
Castrillo et al. (Mon,) studied this question.
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