A method for detecting a vehicle running a stop signal positioned at an intersection includes acquiring a sequence of frames from at least one video camera monitoring an intersection being signaled by the stop signal. The method includes defining a first region of interest (ROI) including a road region located before the intersection on the image plane. The method includes searching the first ROI for a candidate violating vehicle. In response to detecting the candidate violating vehicle, the method includes tracking at least one trajectory of the detected candidate violating vehicle across a number of frames. The method includes classifying the candidate violating vehicle as belonging to one of a violating vehicle and a non-violating vehicle based on the at least one trajectory.