1. A materials handling vehicle comprising a camera, one or more vehicular processors, a drive mechanism configured to move the materials handling vehicle along an inventory transit surface, a materials handling mechanism configured to store and retrieve goods in a storage bay of an industrial facility, and vehicle control architecture in communication with the drive and materials handling mechanisms, wherein: the camera is communicatively coupled to the vehicular processor(s) and captures an input image of overhead features; an industrial facility map comprises a plurality of three-dimensional global feature points associated with a mapping of the overhead features; and the vehicular processor(s) of the materials handling vehicle executes vehicle functions to: (i) create a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating pairs from the UV space information with pairs from the plurality of three-dimensional global feature points of the industrial facility map; (ii) calculate a vehicle pose for associated feature pairs within a visual range of the camera; (iii) calculate a best estimate pose of the materials handling vehicle based on a highest-rated pair of the plurality of associated feature pairs; (iv) use an accumulated odometry associated with the materials handling vehicle to update the best estimate pose to a current localized position; (v) set a seed position as the current localized position; and (vi) track the navigation of the materials handling vehicle along the inventory transit surface, navigate the materials handling vehicle along the inventory transit surface in at least a partially automated manner, or both, utilizing the current localized position.