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Nowadays, providing a low-cost traffic management system in developing countries or in heterogeneous and lane-less traffic conditions is highly essential. It can help to manage traffic congestion, save fuel, save travel time, and enhance user safety. By keeping these as an objective, this article presents a vehicle detection method in heterogeneous and lane-less traffic by extracting a binary image from a discrete sensor array. The binary image is formed with a logic 1 or 0, which are recorded based on the occupancy status of the vehicles in an observed zone. The proposed method is demonstrated with virtual loops in video and with an array of micro-LiDARs. The width and length of the vehicle are obtained from the binary image , which is extracted from virtual loops in a video recording and classified the vehicles. Similarly, the width and height information is obtained using an array of micro-LiDARs and classified …