Disclosed herein are methods and system for detecting road marking expressed using alternating infrared reflective tiles comprising high infrared reflective tiles and low infrared red reflective tiles painted on a road surface using paint material(s) characterized by: (1) reflecting light in visible light spectral range deviating less than a first value from the light reflected by the road surface and (2) reflecting light in an infrared spectral range deviating more than a second value from the light reflected by the road surface. Infrared image(s) and visible light image(s) of the road surface which are registered to each other may be analyzed to compute an infrared reflective value and a luminance value for each pixel respectively. A ratio may be computed between the infrared reflective value of and the luminance value of corresponding pixels to identify high and low infrared reflective tiles in pixels having a ratio exceeding a third value.