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; cropping, by the processor, the overhead image to a road region image; detecting, by the processor, one or more objects in the road region image; removing, by the processor, the one or more objects from the road region image; identifying, by the processor, an edge feature in the road region image using the continuous trajectory; and identifying, by the processor, a lane in the road region image using the continuous trajectory and the edge feature.