1. A method for identifying true feature matches from a plurality of candidate feature matches for vision based navigation, the method comprising: setting a weight for each of the plurality of candidate feature matches; iteratively performing for N iterations: calculating a fundamental matrix for the plurality of candidate feature matches using a weighted estimation that accounts for the weight of each of the plurality of candidate feature matches; calculating a distance from the fundamental matrix for each of the plurality of candidate feature matches; updating the weight for each of the plurality of candidate feature matches as a function of the distance for the respective candidate feature match; and after N iterations selecting as true feature matches, candidate feature matches having a distance less than a distance threshold.