A method provides navigation assistance to a user by tracking the user's position. By detecting similar features, the accuracy of the position measurement of the user is improved, making use of a priori frequencies that various feature types exist in the area. The method provides techniques for planning a route using the tracking information and is able to explore previously-untraveled paths in response to a setting in the search process. The navigation information can be saved or retrieved from a database so that users may share the data obtained during navigating an unfamiliar area.