A novel light detection and ranging-based remote sensing system was assembled and used to measure mass particulate matter (PM) emissions per unit of fuel burned from in-use on-road vehicles. A commercially available remote sensing system was concurrently used to measure emissions of carbon monoxide (CO), nitrogen oxide (NO) and hydrocarbons (HC). The two systems were used to measure 61,207 gasoline and 1180 diesel powered vehicle emissions in Las Vegas, NV from 4/4/2000 to 5/16/2002. Emission factors were related to vehicle age, weight class and fuel type by matching license IDs to the state registration data. Measurements of vehicle speed and acceleration permitted the analysis of emission factors by vehicle specific power (VSP). Average emission factors were calculated for light-duty (<3863 kg [8500 lbs]) gasoline vehicles (LDGV), light-duty diesel vehicles (LDDV), heavy-duty (>3863 kg [8500 lbs]) gasoline vehicles (HDGV) and heavy-duty diesel vehicles (HDDV). LDDV and HDDV emitted approximately 25 times more PM per mass of fuel than LDGV and HDGV. Sufficient numbers of LDGV were measured to relate VSP with CO, HC and NO emissions. No relationship was observed between PM emissions and VSP. PM emission factors from LDGV increased with vehicle age. Fuel-based emission factors measured by remote sensing were compared with MOBILE6 and PART5 emissions model factors. Good agreement was observed for HC emission factors for vehicles less than 20 years old. MOBILE6 CO emission factors were approximately 2 times greater than measured CO emission factors for vehicles less than 13 years old. Measured NO emission factors were approximately 50% greater than MOBILE6 factors for vehicles 7-15 years old but in good agreement for vehicles less than 7 years old. Measured PM emission factors showed a clear increase with vehicle age, however, PART5 uses only a single PM emission factor for LDGV less than 18 years old. The PM emission factors for the fleet of LDGV, HDGV, LDDV and HDDV were 0.06, 0.05, 1.6 and 1.5 g/kg, respectively.