1. An apparatus for using data from a 3-dimensional field scene map to aid in the navigation of a vehicle, comprising: at least one camera for producing a pair of images of a field scene; means for creating a disparity image from the pair of images and analyzing features within the disparity image, wherein the creating comprises determining at least one of a camera to ground distance and a camera tilt angle; and means for operatively connecting the creating means to a navigation system of a vehicle, wherein information gathered from the at least one camera is transmitted to the navigation system for use in guiding the vehicle.