1. An apparatus for determining a geographical location of a roadway mark from a moving vehicle, the apparatus comprising: a GPS antenna mounted to a vehicle; a GPS receiver responsive to the GPS antenna and configured to determine a raw geographical location of the GPS antenna; a first imager mounted to the vehicle, wherein the first imager is (a) synchronously responsive to the GPS receiver and (b) configured to image a first roadway mark to provide a first roadway mark image; a plurality of sensors configured to collect data about the conditions of the vehicle; and a computer (a) responsive to the GPS receiver, the first imager, and the plurality of sensors and (b) configured to determine a GPS location of the first roadway mark using a Bayesian model-based filter which accounts for the raw geographical location of the GPS antenna and the data collected by the plurality of sensors.