Pollutant emissions need to be accurately estimated to ensure that air quality plans are designed and implemented appropriately. Emission factors (EFs) are empirical functional relations between pollutant emissions and the activity that causes them. In this review article, the techniques used to measure road vehicle emissions are examined in relation to the development of EFs found in emission models used to produce emission inventories. The emission measurement techniques covered include those most widely used for road vehicle emissions data collection, namely chassis and engine dynamometer measurements, remote sensing, road tunnel studies and portable emission measurements systems (PEMS). The main advantages and disadvantages of each method with regards to emissions modelling are presented. A review of the ways in which EFs may be derived from test data is also performed, with a clear distinction between data obtained under controlled conditions (engine and chassis dynamometer measurements using standard driving cycles) and measurements under real-world operation. ► The accuracy of road emission models is directly linked to the quality of their emission factors. ► Road vehicles have a large natural variability in their emission profiles. ► Emission factors may have different resolution according to their intended use. ► Emission modellers should combine laboratory data with real-world measurements.