1. A method of estimating a position of an autonomous ground vehicle during travel along a route, the ground vehicle having locomotion equipment and steering equipment, comprising: storing in a database, a set of landmarks and landmark location coordinates for each landmark; initializing position with known location coordinates; receiving current yaw rate and vehicle speed data; using visual perception equipment and the database to detect and identify landmarks; when no landmark is identified, using a processing unit to estimate current position data of the ground vehicle, the dead reckoning process performed by calculating latitude and longitude coordinates and a heading based on the current yaw rate and vehicle speed data; when a landmark is identified, using its landmark location coordinates to correct the current position data; wherein at least some of the landmarks are curbs, each curb at an intersection of two roadways, each of the roadways having two parallel boundary lines, and each curb having landmark location coordinates defined by the intersection of a boundary line of each of the roadways; wherein an intersection is identified by identifying at least two curbs, and at least one of the two curbs is used to provide landmark location coordinates to correct the current position data; and using the current position data to provide input to the steering equipment.