1. A method of determining a vehicle location and pose, comprising: determining a location and pose estimate; retrieving three-dimensional map data based on the location and pose estimate; obtaining a camera image from a vehicle mounted camera; projecting the three-dimensional map data onto the camera image based on the location and pose estimate; comparing the projected three-dimensional map data to the camera image; and determining the vehicle location and pose based on the comparing, wherein projecting the three-dimensional map data onto the camera image comprises: transforming the three-dimensional map data from a map coordinate system to a vehicle coordinate system; transforming the map data from the vehicle coordinate system to a camera coordinate system; and projecting the three-dimensional map data from the camera coordinate system onto the camera image.