Camera-based autonomous parking is disclosed. An autonomous parking procedure can include detecting parking lines in images captured by a camera on a vehicle. The vehicle can be localized with respect to the parking lines based on location data for the vehicle from a GPS receiver and a location determination for the vehicle based on detected ends of the parking lines. The vehicle can further determine an occupancy state of one or more parking spaces formed by the two or more parking lines using a range sensor on the vehicle and select an empty space. A region of interest including the selected space can be identified and one or more parking lines of the selected space can be detected in an image of the region of interest. The vehicle can autonomously move to reduce errors between the location of the vehicle and the final parking position within the selected space.