Example localization systems and methods are described. In one implementation, a method receives a camera image from a vehicle camera and cleans the camera image using a VAE-GAN (variational autoencoder combined with a generative adversarial network) algorithm. The method further receives a vector map related to an area proximate the vehicle and generates a synthetic image based on the vector map. The method then localizes the vehicle based on the cleaned camera image and the synthetic image.
