1. A method comprising: receiving two or more positional data points from a vehicle; computing, by a processor, a continuous trajectory of the vehicle using the two or more positional data points; receiving an overhead image of a road section including the two or more positional data points, the overhead image comprising the road section and one or more objects covering the road section; cropping, by the processor, the overhead image to a road region image; detecting, by the processor, the one or more objects covering the road section in the road region image cropped from the overhead image; removing, by the processor, the one or more objects covering the road section from the road region image; identifying, by the processor, an edge feature in the road region image with the one or more objects removed using at least one filter and the continuous trajectory; identifying, by the processor, a lane in the road region image using the continuous trajectory and the edge feature; and estimating, by the processor, a covered lane using the identified lane and the continuous trajectory, the covered lane being covered by the one or more objects in the road region image cropped from the overhead image.