A method for training a vehicle detection system used in a street occupancy estimation of stationary vehicles. The method includes defining first and second areas on an image plane of an image capture device associated with monitoring for detection of vehicles. The method includes receiving video-data from a sequence of frames captured from the image capture device. The method includes determining candidate frames that include objects relevant to a classification task in the second area. The method includes extracting the objects from the candidate frames, extracting features of each extracted object, and assigning labels to the each extracted object. The method includes training at least one classifier using the labels and extracted features. The method includes using the at least one trained classifier to classify a stationary vehicle detected in the first area.