Abstract--Traffic safety analysis at signalized intersections is vital for reducing vehicle and pedestrian collisions, yet traditional crash-based studies are limited by data sparsity and latency. This paper presents a novel multi-camera computer vision framework for real-time safety assessment through Post-Encroachment Time (PET) computation, demonstrated at the intersection of H Street and Broadway in Chula Vista, California. Four synchronized cameras provide continuous visual coverage, with each frame processed on NVIDIA Jetson AGX Xavier devices using YOLOv11 segmentation for vehicle detection. Detected vehicle polygons are transformed into a unified bird's-eye map using homography matrices, enabling alignment across overlapping camera views. A novel pixel-level PET algorithm measures vehicle position without reliance on fixed cells, allowing fine-grained hazard visualization via dynamic heatmaps, accurate to 3.3 sq-cm. Timestamped vehicle and PET data is stored in an SQL database for long-term monitoring. Results over various time intervals demonstrate the framework's ability to identify high-risk regions with sub-second precision and real-time throughput on edge devices, producing data for an 800 800 pixel logarithmic heatmap at an average of 2.68 FPS. A. Context and Motivation Traffic safety at signalized intersections remains a critical concern in urban planning, as intersections present challenges of high vehicle conflict and elevated accident risk. Large and open intersections, in particular, present challenges due to increased vehicle maneuvering space, multiple conflict points, and reduced natural traffic control, which leads to higher speeds and greater uncertainty in driver behavior.

ABSTRACT Idling vehicle detection (IVD) uses surveillance video and multichannel audio to localize and classify vehicles in the last frame as moving, idling, or engine-off in pick-up zones. IVD faces three challenges: (i) modality heterogeneity between visual cues and audio patterns; (ii) large box scale variation requiring multi-resolution detection; and (iii) training instability due to coupled detection heads. The previous end-to-end (E2E) model [1] with simple CBAM-based [2] bi-modal attention fails to handle these issues and often misses vehicles. We propose HA VT -IVD, a heterogeneity-aware network with a visual feature pyramid and decoupled heads. Experiments show HA VT -IVD improves mAP by 7.66 over the disjoint baseline and 9.42 over the E2E baseline.

Recent advances in computer vision have made training object detectors more efficient and effective; however, assessing their performance in real-world applications still relies on costly manual annotation. To address this limitation, we develop an automated model evaluation (AutoEval) framework for object detection. We propose Prediction Consistency and Reliability (PCR), which leverages the multiple candidate bounding boxes that conventional detectors generate before non-maximum suppression (NMS). PCR estimates detection performance without ground-truth labels by jointly measuring 1) the spatial consistency between boxes before and after NMS, and 2) the reliability of the retained boxes via the confidence scores of overlapping boxes. For a more realistic and scalable evaluation, we construct a meta-dataset by applying image corruptions of varying severity. Experimental results demonstrate that PCR yields more accurate performance estimates than existing AutoEval methods, and the proposed meta-dataset covers a wider range of detection performance. The code is available at https://github.com/YonseiML/autoeval-det.

This paper introduces SI-EDTL, a two-stage swarm intelligence ensemble deep transfer learning model for detecting multiple vehicles in UAV images. It combines three pre-trained Faster R-CNN feature extractor models (InceptionV3, ResNet50, GoogLeNet) with five transfer classifiers (KNN, SVM, MLP, C4.5, Naïve Bayes), resulting in 15 different base learners. These are aggregated via weighted averaging to classify regions as Car, Van, Truck, Bus, or background. Hyperparameters are optimized with the whale optimization algorithm to balance accuracy, precision, and recall. Implemented in MATLAB R2020b with parallel processing, SI-EDTL outperforms existing methods on the AU-AIR UAV dataset.

Traffic congestion and violations pose significant challenges for urban mobility and road safety. Traditional traffic monitoring systems, such as fixed cameras and sensor-based methods, are often constrained by limited coverage, low adaptability, and poor scalability. To address these challenges, this paper introduces an advanced unmanned aerial vehicle (UAV)-based traffic surveillance system capable of accurate vehicle detection, classification, tracking, and behavioral analysis in real-world, unconstrained urban environments. The system leverages multi-scale and multi-angle template matching, Kalman filtering, and homography-based calibration to process aerial video data collected from altitudes of approximately 200 meters. A case study in urban area demonstrates robust performance, achieving a detection precision of 91.8%, an F1-score of 90.5%, and tracking metrics (MOTA/MOTP) of 92.1% and 93.7%, respectively. Beyond precise detection, the system classifies five vehicle types and automatically detects critical traffic violations, including unsafe lane changes, illegal double parking, and crosswalk obstructions, through the fusion of geofencing, motion filtering, and trajectory deviation analysis. The integrated analytics module supports origin-destination tracking, vehicle count visualization, inter-class correlation analysis, and heatmap-based congestion modeling. Additionally, the system enables entry-exit trajectory profiling, vehicle density estimation across road segments, and movement direction logging, supporting comprehensive multi-scale urban mobility analytics. Experimental results confirms the system's scalability, accuracy, and practical relevance, highlighting its potential as an enforcement-aware, infrastructure-independent traffic monitoring solution for next-generation smart cities.

We present an enhanced YOLOv8 real time vehicle detection and classification framework, for estimating carbon emissions in urban environments. The system enhances YOLOv8 architecture to detect, segment, and track vehicles from live traffic video streams. Once a vehicle is localized, a dedicated deep learning-based identification module is employed to recognize license plates and classify vehicle types. Since YOLOv8 lacks the built-in capacity for fine grained recognition tasks such as reading license plates or determining vehicle attributes beyond class labels, our framework incorporates a hybrid pipeline where each detected vehicle is tracked and its bounding box is cropped and passed to a deep Optical Character Recognition (OCR) module. This OCR system, composed of multiple convolutional neural network (CNN) layers, is trained specifically for character-level detection and license plate decoding under varied conditions such as motion blur, occlusion, and diverse font styles. Additionally, the recognized plate information is validated using a real time API that cross references with an external vehicle registration database to ensure accurate classification and emission estimation. This multi-stage approach enables precise, automated calculation of per vehicle carbon emissions. Extensive evaluation was conducted using a diverse vehicle dataset enriched with segmentation masks and annotated license plates. The YOLOv8 detector achieved a mean Average Precision (mAP@0.5) of approximately 71% for bounding boxes and 70% for segmentation masks. Character level OCR accuracy reached up to 99% with the best performing CNN model. These results affirm the feasibility of combining real time object detection with deep OCR for practical deployment in smart transportation systems, offering a scalable solution for automated, vehicle specific carbon emission monitoring.

The increase in vehicle numbers in California, driven by inadequate transportation systems and sparse speed cameras, necessitates effective vehicle speed detection. Detecting vehicle speeds per lane is critical for monitoring High-Occupancy Vehicle (HOV) lane speeds, distinguishing between cars and heavy vehicles with differing speed limits, and enforcing lane restrictions for heavy vehicles. While prior works utilized YOLO (You Only Look Once) for vehicle speed detection, they often lacked accuracy, failed to identify vehicle lanes, and offered limited or less practical classification categories. This study introduces a fine-tuned YOLOv11 model, trained on almost 800 bird's-eye view images, to enhance vehicle speed detection accuracy which is much higher compare to the previous works. The proposed system identifies the lane for each vehicle and classifies vehicles into two categories: cars and heavy vehicles. Designed to meet the specific requirements of traffic monitoring and regulation, the model also evaluates the effects of factors such as drone height, distance of Region of Interest (ROI), and vehicle speed on detection accuracy and speed measurement. Drone footage collected from Northern California was used to assess the proposed system. The fine-tuned YOLOv11 achieved its best performance with a mean absolute error (MAE) of 0.97 mph and mean squared error (MSE) of 0.94 $\text{mph}^2$, demonstrating its efficacy in addressing challenges in vehicle speed detection and classification.

Detecting vehicles in satellite images is crucial for traffic management, urban planning, and disaster response. However, current models struggle with real-world diversity, particularly across different regions. This challenge is amplified by geographic bias in existing datasets, which often focus on specific areas and overlook regions like the Middle East. To address this gap, we present the Vehicles in the Middle East (VME) dataset, designed explicitly for vehicle detection in high-resolution satellite images from Middle Eastern countries. Sourced from Maxar, the VME dataset spans 54 cities across 12 countries, comprising over 4,000 image tiles and more than 100,000 vehicles, annotated using both manual and semi-automated methods. Additionally, we introduce the largest benchmark dataset for Car Detection in Satellite Imagery (CDSI), combining images from multiple sources to enhance global car detection. Our experiments demonstrate that models trained on existing datasets perform poorly on Middle Eastern images, while the VME dataset significantly improves detection accuracy in this region. Moreover, state-of-the-art models trained on CDSI achieve substantial improvements in global car detection.

The rapid urbanization of cities and increasing vehicular congestion have posed significant challenges to traffic management and safety. This study explores the transformative potential of artificial intelligence (AI) and machine vision technologies in revolutionizing traffic systems. By leveraging advanced surveillance cameras and deep learning algorithms, this research proposes a system for real-time detection of vehicles, traffic anomalies, and driver behaviors. The system integrates geospatial and weather data to adapt dynamically to environmental conditions, ensuring robust performance in diverse scenarios. Using YOLOv8 and YOLOv11 models, the study achieves high accuracy in vehicle detection and anomaly recognition, optimizing traffic flow and enhancing road safety. These findings contribute to the development of intelligent traffic management solutions and align with the vision of creating smart cities with sustainable and efficient urban infrastructure.

This work has been submitted to the IEEE for possible publication. Abstract--Autonomous racing provides a controlled environment for testing the software and hardware of autonomous vehicles operating at their performance limits. Competitive interactions between multiple autonomous racecars however introduce challenging and potentially dangerous scenarios. Accurate and consistent vehicle detection and tracking is crucial for overtaking maneuvers, and low-latency sensor processing is essential to respond quickly to hazardous situations. This paper presents the LiDAR-based perception algorithms deployed on Team PoliMOVE's autonomous racecar, which won multiple competitions in the Indy Autonomous Challenge series. Our Vehicle Detection and Tracking pipeline is composed of a novel fast Point Cloud Segmentation technique and a specific Vehicle Pose Estimation methodology, together with a variable-step Multi-Figure 1. Team PoliMOVE's Dallara AV21 "MinerVa" defending from an Dallara AV21 "MinerVa" which won first place in all three In this work, we build an online algorithm for reliable I. UTONOMOUS RACING allows for safe testing of an autonomous vehicle's full software and hardware stack fully observing the target's 2D pose, tracking its motion at the limits of its performance in a controlled environment. Point Cloud segmentation algorithm capable of processing in Providing this kind of testing environment is one of the main parallel the three LiDAR sensors mounted on the vehicle, a goals of the Indy Autonomous Challenge (IAC), the first multivehicle multi-hypothesis L-shape fitting technique for a racing vehicle competition series for level 4 autonomous racecars.