DiverSim: A Customizable Simulation Tool to Generate Diverse Vulnerable Road User Datasets

Jon Ander Iñiguez de Gordoa, Jon Ander Iñiguez de Gordoa, Martín Hormaetxea, Marcos Nieto, Gorka Vélez, Andoni Mujika

2025

Abstract

This work presents DiverSim, a highly customizable simulation tool designed for the generation of diverse synthetic datasets of vulnerable road users to address key challenges in pedestrian detection for Advanced Driver Assistance Systems (ADAS). Although recent Deep Learning models have advanced pedestrian detection, their performance still depends on the diversity and inclusivity of training data. DiverSim, developed on Unreal Engine 5, allows users to control various environmental conditions and pedestrian characteristics, including age, gender, ethnicity and mobility aids. The tool features a highly customizable virtual fisheye camera and a Python API for easy configuration and automated data annotation in the ASAM OpenLABEL format. Our experiments demonstrate DiverSim’s capability to evaluate pedestrian detection models across diverse user profiles, revealing potential biases in current state-of-the-art models. By making both the simulator and Python API open source, DiverSim aims to contribute to fairer and more effective AI solutions in the field of transportation safety.

Paper Citation

in Harvard Style

Iñiguez de Gordoa J., Hormaetxea M., Nieto M., Vélez G. and Mujika A. (2025). DiverSim: A Customizable Simulation Tool to Generate Diverse Vulnerable Road User Datasets. In Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-745-0, SciTePress, pages 17-24. DOI: 10.5220/0013201600003941

in Bibtex Style

@conference{vehits25,
author={Jon Iñiguez de Gordoa and Martín Hormaetxea and Marcos Nieto and Gorka Vélez and Andoni Mujika},
title={DiverSim: A Customizable Simulation Tool to Generate Diverse Vulnerable Road User Datasets},
booktitle={Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2025},
pages={17-24},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013201600003941},
isbn={978-989-758-745-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - DiverSim: A Customizable Simulation Tool to Generate Diverse Vulnerable Road User Datasets
SN - 978-989-758-745-0
AU - Iñiguez de Gordoa J.
AU - Hormaetxea M.
AU - Nieto M.
AU - Vélez G.
AU - Mujika A.
PY - 2025
SP - 17
EP - 24
DO - 10.5220/0013201600003941
PB - SciTePress