A system, device, and methods for autonomous navigation using lane-based localization. Once example computer-implemented method includes receiving, from one or more sensors disposed on a vehicle, data representing a road surface proximate to the vehicle and removing the data falling below an adaptive threshold from the data representing the road surface to isolate data representing boundaries on the road surface. The method further includes generating detected lanes based on the data representing boundaries on the road surface by applying one or more filters, generating expected lanes proximate to the vehicle using data included in a route network definition file, comparing the detected lanes to the expected lanes, and generating a localized vehicle position based on the comparison between the detected lanes and the expected lanes.