Methods and systems for determining a vehicle location and pose are provided. A vehicle localization system may determine a location and pose estimate for the vehicle. The system may retrieve three-dimensional map data based on the location and pose estimate. The system may obtain a camera image from a vehicle mounted camera. The system may project the three-dimensional map data onto the camera image based on the location and pose estimate. The system may compare the projected three-dimensional map data to the camera image. The system may then determine the vehicle location and pose based on the comparing.