The proposed work detects moving vehicles using unsupervised methods and estimates their speed as well as distance using surveillance cameras mounted in road infrastructure for collision avoidance at sharp corners. The goal is to develop IoT-based computer vision-assisted vehicle-to-infrastructure (V2I) communication for autonomous vehicles. Information like the availability of vehicles in the blind zone, speed, and distance of the upcoming vehicle can be shared with the drivers beforehand for safety purposes. Computer vision-based lightweight algorithms using simple morphological operations have been proposed to detect the incoming vehicle and estimate the associated speed and distance. Further, an IoT-edge paradigm-enabled computing platform is developed to facilitate efficient computation for latency-sensitive real-time applications. An auto-generated audio-visual alarm guides the driver by a fixed roadside unit near the turning point when the approaching vehicle crosses the predefined threshold zone decided for a particular turning point. Hence, it enables the vehicle to prevent a collision.