A stop-arm with camera system for a vehicle is provided. The stop-arm with camera system may include a shield, a stop-arm, and a camera assembly. The stop-arm includes a first side and a second side. The stop-arm may be deployable between a first position where the first side of the stop-arm is disposed at least partially inside the shield, and a second position where the stop-arm is substantially perpendicular to the shield. The camera assembly is coupled to the first side of the stop-arm. The stop-arm with camera system may be mounted on a rear passenger side of the vehicle, which may be a bus. The camera assembly may provide a view including an area that is under the vehicle and between a rear wheel of the vehicle and a front wheel of the vehicle when the stop-arm is in the second position.