Examples include methods, systems, and articles for localizing a vehicle relative to an imaged surface configuration. Localizing the vehicle may include selecting pairs of features in an image acquired from a sensor supported by the vehicle having corresponding identified pairs of features in a reference representation of the surface configuration. A three-dimensional geoarc may be generated based on an angle of view of the sensor and the selected feature pair in the reference representation. In some examples, a selected portion of the geoarc disposed a known distance of the vehicle away from the portion of the physical surface configuration may be determined. Locations where the selected portions of geoarcs for selected feature pairs overlap may be identified. In some examples, the reference representation may be defined in a three-dimensional space of volume elements (voxels), and voxels that are included in the highest number of geoarcs may be determined.