The present disclosure generally relates to methods and systems for determining a position of a vehicle relative to a surrounding environment. A vehicle may obtain a LiDAR map of the surrounding environment at a vehicle location via processing data from a LiDAR device mounted on the vehicle. The vehicle may access a transition map based on the vehicle location to determine a transformation between the LiDAR map and a stored high-definition map. The transition map may define a six degrees of freedom transformation for each of a plurality of locations. The vehicle may apply the transformation to an element of the LiDAR map to determine a corresponding location of the element on the high-definition map. In some aspects, the vehicle may perform an autonomous driving operation based on a location of the vehicle with respect to the element of the high-definition map.