A method, comprising: receiving, by an autonomous vehicle , from an imaging system mounted on the vehicle , an image frame, the image frame depicting a portion of a local area surrounding the vehicle ; receiving an initial pose of the autonomous vehicle that is an estimate of an actual pose of the autonomous vehicle ; loading a plurality of edgels from map data of a High Definition (HD) map of the local area based upon the initial pose; analyzing the image frame to identify a plurality of edge pixels within the image frame; for each respective edgel of a subset of the plurality of edgels: projecting the respective edgel onto the image frame, based upon the initial pose; and determining a correspondence between the projected edgel and an edge pixel of the plurality of edge pixels, based upon a distance between the projected edgel and the edge pixel; determining, based upon the determined correspondences, a transformation that if applied to the subset of edgels reduces an aggregate distance between the subset of edgels and their corresponding edge pixels; applying the determined transformation to the initial pose to determine an updated pose of the autonomous vehicle with respect to the actual pose; and providing signals to the vehicle to navigate the autonomous vehicle based on the updated pose of the autonomous vehicle . wherein determining the correspondence between the projected edgel and the edge pixel of the plurality of edge pixels is further based on a level of similarity between a gradient direction of the projected edgel and a gradient direction of the corresponding edge pixel, wherein the gradient indicates a rate of intensity change of pixels, while the orientation indicates a direction of the intensity change. receiving, by an autonomous vehicle , from an imaging system mounted on the vehicle , an image frame, the image frame depicting a portion of a local area surrounding the vehicle ; receiving an initial pose of the autonomous vehicle that is an estimate of an actual pose of the autonomous vehicle ; loading a plurality of edgels from map data of a High Definition (HD) map of the local area based upon the initial pose; analyzing the image frame to identify a plurality of edge pixels within the image frame; for each respective edgel of a subset of the plurality of edgels: projecting the respective edgel onto the image frame, based upon the initial pose; and determining a correspondence between the projected edgel and an edge pixel of the plurality of edge pixels, based upon a distance between the projected edgel and the edge pixel; projecting the respective edgel onto the image frame, based upon the initial pose; and determining a correspondence between the projected edgel and an edge pixel of the plurality of edge pixels, based upon a distance between the projected edgel and the edge pixel; determining, based upon the determined correspondences, a transformation that if applied to the subset of edgels reduces an aggregate distance between the subset of edgels and their corresponding edge pixels; applying the determined transformation to the initial pose to determine an updated pose of the autonomous vehicle with respect to the actual pose; and providing signals to the vehicle to navigate the autonomous vehicle based on the updated pose of the autonomous vehicle . <EOS>