1. A vehicle vision system, comprising: a camera configured to capture at least one image; and a processor coupled to the camera and configured to determine at least one feature descriptor, and in particular a plurality of feature descriptors, for the at least one image; and the processor having an interface to access annotated map data including geo-referenced feature descriptors to retrieve a plurality of geo-referenced feature descriptors and position information respectively associated with the geo-referenced feature descriptors, where the processor is configured to perform a matching procedure between the at least one feature descriptor determined for the at least one image and the retrieved geo-referenced feature descriptors.