A navigation system for a vehicle, the system comprising: at least one processor programmed to: receive, from a camera, at least one captured image representative of features in an environment of the vehicle; generate a warped image based on the received at least one captured image, wherein the warped image simulates a view of one or more of the features in the environment of the vehicle from a simulated viewpoint elevated relative to an actual position of the camera; identify at least one road feature represented in the warped image, wherein the representation of the at least one road feature in the warped image is transformed in one or more respects relative to a representation of the at least one road feature in the at least one captured image; determine a position of one or more points associated with the identified at least one road feature; wherein the determination of the position of one or more points associated with the identified at least one road feature includes: for each pixel of the warped image that overlaps a portion of the at least one road feature, predicting a first point location associated with a leading edge of the at least one feature and a second point location associated with a trailing edge of the at least one feature; clustering the predicted first point locations; clustering the predicted second point locations; determining an aggregated leading edge point position based on the clustered first point locations; determining an aggregated trailing edge point position based on the clustered second point locations; and wherein the determined position of the one or more points associated with the identified at least one road feature includes the determined aggregated leading edge point position and the determined aggregated trailing edge point position; determine a navigational action for the vehicle based on the identified at least one road feature represented in the warped image; and cause at least one actuator system of the vehicle to implement the determined navigational action. receive, from a camera, at least one captured image representative of features in an environment of the vehicle; generate a warped image based on the received at least one captured image, wherein the warped image simulates a view of one or more of the features in the environment of the vehicle from a simulated viewpoint elevated relative to an actual position of the camera; identify at least one road feature represented in the warped image, wherein the representation of the at least one road feature in the warped image is transformed in one or more respects relative to a representation of the at least one road feature in the at least one captured image; determine a position of one or more points associated with the identified at least one road feature; wherein the determination of the position of one or more points associated with the identified at least one road feature includes: for each pixel of the warped image that overlaps a portion of the at least one road feature, predicting a first point location associated with a leading edge of the at least one feature and a second point location associated with a trailing edge of the at least one feature; clustering the predicted first point locations; clustering the predicted second point locations; determining an aggregated leading edge point position based on the clustered first point locations; determining an aggregated trailing edge point position based on the clustered second point locations; and for each pixel of the warped image that overlaps a portion of the at least one road feature, predicting a first point location associated with a leading edge of the at least one feature and a second point location associated with a trailing edge of the at least one feature; clustering the predicted first point locations; clustering the predicted second point locations; determining an aggregated leading edge point position based on the clustered first point locations; determining an aggregated trailing edge point position based on the clustered second point locations; and wherein the determined position of the one or more points associated with the identified at least one road feature includes the determined aggregated leading edge point position and the determined aggregated trailing edge point position; determine a navigational action for the vehicle based on the identified at least one road feature represented in the warped image; and cause at least one actuator system of the vehicle to implement the determined navigational action.