I found this paper titled "Ground Target Tracking with Road Map Support" written by Daniel Streller (daniel.streller@eads.com).

http://subs.emis.de/LNI/Proceedings/Proceedings110/gi-proc-110-021.pdf (5 page PDF, 161KB)

Its somewhat of a complicated read but very interesting as well.

The UAV I am planning to build will have alot of onboard memory which I will use to store road data from a automobile GPA system. This data will be used to properly find waypoint by keyname rather then lat/long. Since my UAV is to have a good camera on it, I am very keen to dig into ground target tracking and autonomous waypoint creation and this seemed like a good start.