No Pedestrian Left Behind: Real-Time Detection and Tracking of Vulnerable Road Users for Adaptive Traffic Signal Control

arXiv:2604.25887v1 Announce Type: cross Abstract: Current pedestrian crossing signals operate on fixed timing without adjustment to pedestrian behavior, which can leave vulnerable road users (VRUs) such as the elderly, disabled, or distracted pedestrians stranded when the light changes. We introduce No Pedestrian Left Behind (NPLB), a real-time adaptive traffic signal system that monitors VRUs in crosswalks and automatically extends signal timing when needed. We evaluated five state-of-the-art o