Systems and methods are provided for generating, distributing, and using a sparse map and lane measurements for autonomous vehicle navigation. For example, one implementation relates to a non-transitory computer-readable medium including a sparse map for autonomous vehicle navigation along a road segment. Another implementation relates to a method of generating a road navigation model for use in autonomous vehicle navigation. A third implementation relates to a system for autonomously navigating a vehicle along a road segment. A fourth implementation relates to a method of determining a line representation of a road surface feature extending along a road segment. A fifth implementation relates to a method of determining a line representation of a road surface feature extending along a road segment. A sixth implementation relates to a system for correcting a position of a vehicle navigating a road segment.
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