1. A method for image-based vehicle localization comprising: generating, at a vehicle, an estimated pitch and an estimated roll of the vehicle from inertial measurement unit data; capturing, at an image capture system of the vehicle, road surface image data of a road surface; detecting, using a dynamic model that accounts for distortion in the road surface image data due to pitch and roll of the vehicle, a set of lane markers based on the road surface image data, the estimated pitch, and the estimated roll; generating a local map based on the set of detected lane markers; wherein generating the local map comprises identifying a lane demarcated by the set of detected lane markers; and controlling the vehicle according to the local map; wherein controlling the vehicle comprises keeping the vehicle within the lane during vehicular travel.