Abstract: Autonomous ground vehicles that are outfitted with onboard cameras and configured to travel within an area or region are programmed with a previously generated visual map of the area or region. The visual map includes a plurality of map points from which images were previously captured and processed to determine visual features of such images. In the event of a loss of one or more position signals, such as GPS signals, the autonomous ground vehicles capture images using one or more of the cameras, and process the images to determine visual features from such images. The visual features determined from such images are compared to the visual map. Positions of one or more of the map points are identified as most likely corresponding to a position of the autonomous ground vehicle where visual features associated with such map points are similar to the visual features determined from such images.