Systems and methods use cameras to provide autonomous navigation features. In one implementation, top-down refinement in lane marking navigation is provided. The system may include one or more memories storing instructions and one or more processors configured to execute the instructions to cause the system to receive from one or more cameras one or more images of a roadway in a vicinity of a vehicle, the roadway comprising a lane marking comprising a dashed line, update a model of the lane marking based on odometry of the one or more cameras relative to the roadway, refine the updated model of the lane marking based on an appearance of dashes derived from the received one or more images and a spacing between dashes derived from the received one or more images, and cause one or more navigational responses in the vehicle based on the refinement of the updated model.