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ARCAS AR Headset and LiDAR Positioning System

Figure 1: System overview of the proposed ARCAS. The left portion of the figure illustrates the AR headset (a Meta Quest Pro operating in passthrough mode), while the right portion shows the positioning module, consisting of a 3D 360° LiDAR sensor and the associated TCP server.

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Paper title: ARCAS: An Augmented Reality Collision Avoidance System with SLAM-Based Tracking for Enhancing VRU Safety Abstract: Vulnerable road users (VRUs) face high collision risks in mixed traffic, yet most existing safety systems prioritize driver or vehicle assistance over direct VRU support. This paper presents ARCAS, a real-time augmented reality (AR) collision avoidance system that provides personalized spatial alerts to VRUs via wearable AR headsets. By fusing roadside 360° 3D LiDAR with SLAM-based headset tracking and an automatic 3D calibration procedure, ARCAS accurately overlays world-locked 3D bounding boxes and directional arrows onto approaching hazards in the user's passthrough view. The system also enables multi-headset coordination through shared world anchoring. Evaluated in real-world pedestrian interactions with e-scooters and vehicles (180 trials), ARCAS nearly doubles pedestrians' time to collision and increases counterparts' reaction margins by up to 4x compared to unaided eye conditions. Results validate the feasibility and effectiveness of LiDAR-driven AR guidance and highlight the potential of wearable AR as a promising next generation safety tool for urban mobility. Passages referencing this figure: Figure 1: System overview of the proposed ARCAS. To address these research gaps, the primary objective of this paper is to develop an A ugmented R eality C ollision A voidance S ystem (ARCAS), a real-time framework designed to enhance VRU safety across dynamic traffic conditions (Figure 1 ). The system components are illustrated in Figure 1 .

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