ARCANE-PedSynth: Synthetic Multi-Pedestrian Datasets with Behavioural Crossing Annotations
We present ARCANE-PedSynth, an open-source CARLA-based software framework for generating synthetic multi-pedestrian datasets with dense behavioural annotations for pedestrian crossing prediction in autonomous driving. The framework overcomes CARLA's native 9% crossing rate through a hybrid AI-manual pedestrian control architecture, enabling configurable target rates up to 75%. A 12-state behavioural finite state machine with five character archetypes produces diverse crossing behaviours. The framework generates synchronised RGB, LiDAR, and DVS data with per-frame crossing labels, behavioural states, and estimated 2D pose keypoints. We demonstrate ARCANE-PedSynth through PedSynth++, an exa...
| Authors | Muhammad Naveed Riaz, Maciej Wielgosz, Antonio M. López Peña |
|---|---|
| Primary category | cs.RO |
| Published | 24 May 2026 |
| Last updated at source | 24 May 2026 |
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