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