Navigation system and method of determining a vehicle position

A vehicle, comprising:

• a navigation system that includes:
• an image sensor configured to capture image data,
• a map database comprising street lighting data that includes, for a plurality of street lights, position data indicating a position at which a street light is installed and height data indicating a height at which a light source of the street light is located, and
• a processing device coupled to the map database and the image sensor, the processing device configured to refine a position estimate by analyzing the image data in view of the street lighting data.

A method of determining a vehicle position, comprising:

• capturing image data via an image sensor installed in a vehicle;
• retrieving street lighting data from a map database, wherein the street lighting data includes, for a plurality of street lights, position data indicating a position at which a street light is installed, and height data indicating a height at which a light source of the street light is located;
• and
• refining a position estimate by analyzing the image data in view of the street lighting data.