We present a monocular camera localization technique for a three-dimensional prior map. Visual localization has been attracting considerable attention as a lightweight and widely available localization technique for any mobilities; however, it still suffers from appearance changes and a high computational cost. With a view to achieving robust and real-time visual localization, we first reduce the localization problem to alternate local tracking and occasional keyframe rendering by following a simultaneous tracking and rendering algorithm. At the same time, by using an information-theoretic metric denoted normalized information distance in the local tracking, we developed a 6-DoF localization method robust to intensity variations between modalities and varying sensor properties. We quantitatively evaluated the accuracy and robustness of our method using both synthetic and real datasets and achieved reliable and practical localization even in the case of extreme appearance changes.