Abstract: Vehicle detection and counting is very much important for the purpose of upgrading and widening the road. The information obtained from the traffic monitoring can be used in planning the budget for road maintenance. The traffic monitoring can be done automatically or by detecting and counting the vehicles manually using human labors. In manual method of traffic monitoring the person records the data using tally sheet which may leads to the human errors and most of the automatic traffic census system used nowadays focuses on detecting and counting the vehicles by using devices called magnetic loop detectors. These devices are costly and once installed, cannot be removed. So, it is necessary to build the system that is capable of detecting and counting vehicles without involving persons for traffic monitoring and costlier devices to detect and count the vehicles. For that purpose in this work simple cameras are used for detection and counting of vehicles. Keywords: Detection, Counting, Background subtraction, Canny edge detection, Kalman filter.