ROD-Dataset: A Pedestrian-Perspective Benchmark of Urban Obstacle Classes for YOLO-Based Detection
Abtin Zandi, Ariyan Azami, Bardia Sabagh Kermani, Parsa Abbasian, Roza Ganjipour, Sarvin Nami, Hamed Farbeh
Abstract
Two groups of pedestrians face avoidable risk on the city sidewalk: people living with visual impairment, who reach an obstacle before anything warns them, and people walking with divided attention, who register a hazard late or not at all. A vision system can warn them only about obstacles it has learned to recognize, so its training data limits the protection it offers. No suitable training set exists: public benchmarks are recorded from vehicles, aerial platforms, or fixed rigs, general-purpose detectors omit the street furniture that causes trips, and pedestrian-focused collections are confined to single regions with incompatible class schemes. This paper introduces the Real-time Obstacle Detection (ROD) dataset: more than 24,000 images and 40,000 annotated obstacles across 25 classes, from vehicles and people to the stairs, manholes, traffic cones, and benches that general-purpose detectors overlook. Because street furniture differs between cities, ROD unifies twenty-nine public collections onto one taxonomy and adds eye-level imagery from two contrasting cities on two continents, Tehran and Toronto. Every label is human-verified, and each capture campaign is admitted only after a compact detector shows it can learn the class. Six lightweight YOLO detectors (nano and tiny variants) benchmarked on ROD all exceed 0.86 recall; YOLO12n attains the highest recall (0.889), YOLO26n the highest precision (0.925), and YOLOv9t the best mAP@0.50 (0.882) with the fewest parameters. Because the recall and mAP rankings disagree, selecting a model by mAP does not minimize missed obstacles, so per-class recall is reported for all 25 classes.