1. A system for determining a position of a vehicle, comprising: a camera configured to capture an image of an area adjacent the vehicle, the image including an edge; a marker detection device configured to detect a marker in the area adjacent the vehicle; a storage device configured to store map data, the stored map data including edge data; a positioning system configured to determine the location of the vehicle relative to the stored map data, and a controller configured to combine the marker detected by the marker detection device and the edge in the image captured by the camera, and compare the combined marker detected by the marker detection device and the edge in the image captured by the camera to the stored map data.