1. A method for navigating, the method comprising: identifying line features in a first three-dimensional (3-D) image and a second 3-D image as a navigation platform traverses an area; comparing the line features in the first 3-D image that correspond to the line features in the second 3-D image; and when the lines features compared in the first and the second 3-D images are within a prescribed tolerance threshold, using a conditional set of geometrical criteria to determine whether the line features in the first 3-D image match the corresponding line features in the second 3-D image.