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Not quite as scary as it seems at first glance. If you're on a collision course with something 5 meters away from you, you're going to be taking some sort of evasive action whether you can accurately judge its speed or not. I think the real danger in urban environments is people "looking but not seeing" where they turn their head and saccade over big chunks of their view without realising. I believe that has more to do with the speed they turn their head than anything else.
jimmy_james
pdlouche
Screengrab for the lazy