1. A method for vehicle localization, comprising: receiving a runtime image of a navigation environment associated with a perspective from a vehicle, the runtime image comprising one or more runtime road markings; transforming the runtime image into a rectified runtime image by reducing perspective distortion associated with the runtime image, the rectified runtime image comprising a rectified view of the one or more runtime road markings; enhancing the rectified runtime image by extracting one or more enhanced runtime road marking regions from the rectified runtime image; calculating one or more runtime corners for the one or more runtime road markings based on the one or more enhanced runtime road marking regions; matching the one or more runtime corners with one or more template corners from one or more templates; and determining a location of the vehicle or a pose of the vehicle based on the matching, wherein the receiving, transforming, enhancing, calculating, matching, and determining is implemented via a processing unit.