A position determining system for a vehicle comprises an imaging unit for collecting image data. A wireless device reads or interrogates a radio frequency identification tag. An identification module determines whether the collected image data contains a visual landmark. A confirmation module determines whether the identified visual landmark is associated with a corresponding radio frequency identification tag having a particular tag identifier. A range finder or distance estimator determines a position offset of the vehicle with respect to the identified visual landmark. A data processor determines a vehicular position of the vehicle based on the determined position offset and a stored reference position associated with at least one of the visual landmark and the radio frequency identification tag.