It	= tth frame of a video sequence
It [i]	= ith edge area of frame It
N	= threshold number for a new feature point search
OF t, t+1	= optical flow between the edge areas of It and It+1
H t−1, t	= homography matrix that maps It−1 to It
Rt	= binary image that displays regions where moving objects are present
Ct	= list of prior object coordinates
Ot	= object locations and IDs at the previous frame
davoidThresh	= avoidance decision threshold
dstopThresh	= emergency stop decision threshold
Rsafewindow	= safe window radius
vobj	= maximum expected approach speed of object
vmax	= maximum possible maneuver speed of the ego-vehicle