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This paper describes an algorithm for an autonomous car to identify the shape of a roadway by detecting geometric features via LIDAR. The data from multiple LIDAR are fused together to detect both obstacles as well as geometric features such as curbs, berms, and shoulders. These features identify the boundaries of the roadway and are used by a stochastic state estimator to identify the most likely road shape. This algorithm has been used successfully to allow an autonomous car to drive on paved roadways as well as on off-road trails without requiring different sets of parameters for the different domains.