I. Introduction
Every year, vehicular accidents cause tragic loss of lives, cost many countries tremendous amount of money, and produce substantial congestion to a nation's transportation system. Approximately 50%–60% of the delays on urban freeways are associated with incidents, and on urban surface streets, a large percentage of traffic accidents and most delays occur at or near intersections [1]. Intersections are a common place for crashes, which may be due to the fact that there are several conflicting movements, as well as a myriad of different intersection design characteristics. Intersections also tend to experience severe crashes due to the fact that several types of injurious crashes, such as angle and left-turn collisions, commonly occur there. Therefore, accurate and prompt detection of accidents at intersections offers tremendous benefits of saving properties and lives and minimizing congestion and delay.