Abstract: A rail crossing occupancy detection system and method includes a plurality of LIDAR sensors operable to detect objects in one or more areas of interest within a field of interest, such as the areas including and surrounding a rail crossing, station, platform, or other railway right-of-way area. The field of interest is divided into one or more areas of interest, with one or more LIDAR sensors positioned to detect the presence of one or more objects within each of the one or more areas and to provide alerts based on the detection and behavior of the objects such as movement or other parameters associated with the objects.