With increasing urbanization, efficient urban traffic management is a critical challenge that requires smarter and more adaptable systems. This paper introduces a self-learning algorithm designed to enhance the adaptability and effectiveness of vehicle detection models using urban camera infrastructures. By leveraging these ubiquitous devices, the study aims to capture and analyze real-time traffic data, a task traditionally limited by the need for extensive manual data labeling and the limitations of pre-trained models under varying urban conditions. Our self-learning algorithm addresses these challenges by reducing reliance on manual labeling and enabling continuous model adaptation to new conditions without direct human intervention. Implemented in the dynamic urban environment of the city of Madrid, Spain, this study evaluates the algorithm’s capacity to enhance vehicle detection, considering a diverse range of vehicle types. The core of the algorithm comprises an iterative self-training process that refines model performance using both labeled and unlabeled data, thus progressively enhancing detection accuracy. Our findings reveal significant improvements in the ability of the model to accurately identify and classify vehicles, highlighting the potential of self-learning algorithms in urban traffic management.