In recent years, many autonomous vehicles and mobile robots have been developed. They need to have a self localization capability, but using a laser sensor for self localization is costly. The purpose of this study is to develop a localization method using monocular camera and 3D map with laser reflectance. Laser reflectance has information of appearances of objects. We can add the appearances to a 3D map using laser reflectance data and compare a camera image with rendered images of the 3D map. We use the particle filter to localize the camera based on the comparisons of the camera image with rendered images of the 3D map from various viewpoints. As image feature used in the comparison, we use GIST feature and HOG feature. We evaluated a preliminary experiment for estimation. The results demonstrate that the proposed method can localize the camera.