1. A processor-implemented method for estimating a position of a mobile station (MS) the method comprising: identifying a subset of Points of Interest (POIs) in a plurality of POIs by matching MS captured images of each POI in the subset with corresponding stored POI images, each POI being associated with a corresponding visibility map comprising a set of grid points; computing a cumulative grid point weight for a plurality of grid points in the visibility maps associated with the POIs in the subset; and computing an estimated location of the MS based on the cumulative grid point weights of the plurality of grid points.