1. A method for image-based localization of a vehicle, comprising: capturing, at an image capture system of the vehicle, road surface image data of a road surface; processing, by a dynamic model, a vehicle speed and a vehicle wheel angle to determine an expected time distortion contribution; performing, by the dynamic model, feature detection on the road surface image data to detect lane markers on the road surface based on an estimated pitch of the vehicle, an estimated roll of the vehicle, and the expected time distortion contribution; generating a local map comprising a lane demarcated by the detected lane markers; and controlling the vehicle according to the local map.