Systems and methods are provided for autonomously navigating a vehicle along a road segment. In one implementation, a system includes at least one processor programmed to receive from a camera at least one image representative of an environment of the vehicle. The at least one image may be analyzed to identify at least one recognized landmark based upon one or more landmark group characteristics associated with a group of recognized landmarks. The current location of the vehicle relative to a predetermined road model trajectory associated with the road segment may be determined based, at least in part, on a predetermined location of the recognized landmark. An autonomous steering action for the vehicle may be determined based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory.
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