Let us first assume that the video camera is mounted on a 3-m post and located about 10 m from the junction.
Its FOV covers multiple lanes in one traveling direction leading to the junction and must have the viewof at least one traffic light at the junction.
The camera settings are assumed to be fixed without pan tilt or zoom actions.
It is also assumed that the camera operates under normal day light and road conditions.
The road direction and the number of lanes are assumed known a priori.