1. A navigation system for a vehicle, the navigation system comprising: an image capturing device that produces projections of surrounding scenes; a processor coupled to the image capturing device, the processor having a process for robust feature matching using invariant mutual relations between features; and a memory coupled to the processor, wherein the processor: defines a first descriptive subset of features, including at least one minimal subset, from a feature set A extracted by at least one processor from a first image projection, selects at least two second descriptive subsets from a feature set B extracted by the at least one processor from a second image projection, the at least two second descriptive subsets correlated to at least two minimal subsets, which meet a congruency criteria with the first descriptive subset of features from the feature set A, wherein the at least two second descriptive subsets are selected based on a similarity of invariant mutual relations between features of one of the at least one minimal subset in the first descriptive subset and invariant mutual relations between features of the at least two minimal subsets in the at least two second descriptive subsets, wherein the first descriptive subset and the at least two second descriptive subsets define at least two pairs of similar descriptive subsets, calculates at the at least one processor a transformation T from at least one of the at least two pairs of similar descriptive subsets to form a hypothesis H, evaluates at the at least one processor a quality of the hypothesis H, stores the hypothesis H into a memory device, the hypothesis H including transformation T and a plurality of paired features that support the hypothesis H, selects a final hypothesis H B having a high quality as determined by a quality metric, the method further comprising at least one of: determining coordinates for a new position by applying the transformation T belonging to the selected final hypothesis H B to coordinates in a navigation frame; and generating a map in the memory device for navigating a vehicle, the map based on matching features from the first image projection with the second image projection.