Systems and methods are provided for determining a lane assignment for an autonomous vehicle along a road segment. In one implementation, at least one image representative of an environment of the vehicle is received from a camera. The at least one image may be analyzed to identify at least one recognized landmark, and an indicator of a lateral offset distance between the vehicle and the at least one recognized landmark may be determined. Moreover, a lane assignment of the vehicle along the road segment may be determined based on the indicator of the lateral offset distance between the vehicle and the at least one recognized landmark.