Drivers must keep attention on the road or railway. For this purpose they can get benefited in terms of safety or comfort by the use of assistance systems in maintaining their awareness and directing their attention to potential emerging hazards.

• Lane Departure Warning (LDW): Lane departure warning system based on machine vision to avoid lane departure fatalities with low cost and high reliability

• Collision Avoidance System (CAS): The purpose of Collision-Avoidance System is to prevent collision accidents, by means of detecting and measuring the distance to preceding vehicles

• Driver's Fatigue Detection (DFD): Driver lack of attention is one of the main causes of traffic accidents. A computer vision system for driving monitoring uses face location and tracking as the first processing stage. On the next stage the different facial features are extracted and tracked for monitoring the driver's vigilance.

• Pedestrian Detection System (PDS): The major challenge of PDSs is the development of reliable on-board systems. Due to the varying appearance of pedestrians (e.g., different clothes, changing size, aspect ratio, and dynamic shape) and the unstructured environment, it is very difficult to cope with the demanded robustness of this kind of system.