cs.CVMay 21, 2026

Learning to See Like Humans: Gaze-Aligned Cycling Safety Prediction

Authors: Luís Maria Perdigão, Miguel Costa, Carlos Santiago, Manuel Marques

Organizations: Institute for Systems and Robotics (ISR-Lisboa), Instituto Superior Técnico, Lisbon, Portugal. · Technical University of Denmark, Kongens Lyngby, Denmark.

Abstract

Cycling delivers significant public-health and environmental benefits, yet its uptake in cities is often limited by perceived safety. When street environments appear unsafe, individuals are less likely to cycle, making perception a key barrier to adoption. Recent work has shown that pairwise comparisons of street-view images provide a scalable way to learn subjective safety judgments. However, existing approaches do not explicitly model human visual attention, which plays a central role in how humans perceive safety. We propose an Eye-Tracking-Guided Perceived Cycling Safety framework (EG-PCS) that integrates gaze data into a pairwise learning pipeline based on vision transformers. By supervising the model's attention mechanism with eye-tracking signals, we encourage alignment between learned attention maps and human fixation patterns. Experiments show that gaze-guided models achieve similar ranking performance compared to state-of-the-art approaches while producing attention maps that more accurately reflect human visual attention behavior. Our results demonstrate that incorporating eye-tracking information enhances both predictive accuracy and interpretability in perception-based urban analytics.

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