Although Vehicle-to-Pedestrian (V2P) communication can significantly improve pedestrian safety at a signalized intersection, this safety is hindered when pedestrians do not carry hand-held devices (e.g., Dedicated short-range communication (DSRC) and 5G enabled cell phone) to communicate with connected vehicles nearby. To overcome this limitation, in this project, traffic cameras at a signalized intersection were used to accurately detect and locate pedestrians via a vision-based deep learning technique to generate safety alerts in real-time about possible conflicts between vehicles and pedestrians. The contribution of this project lies in the development of a system using a vision-based deep learning model that is able to generate personal safety messages (PSMs) in real-time (every 100 milliseconds). We develop a pedestrian alert safety system (PASS) to generate a safety alert of an imminent pedestrian-vehicle crash using generated PSMs to improve pedestrian safety at a signalized intersection. Our approach estimates the location and velocity of a pedestrian more accurately than existing DSRC-enabled pedestrian hand-held devices. A connected vehicle application, the Pedestrian in Signalized Crosswalk Warning (PSCW), was developed to evaluate the vision-based PASS. Numerical analyses show that our vision-based PASS is able to satisfy the accuracy and latency requirements of pedestrian safety applications in a connected vehicle environment.