Systems, apparatus and methods disclosed herein facilitate mobile station (MS) location determination using MS captured images of known points of interest (POIs). In some embodiments, each POI is associated with a corresponding visibility map comprising a set of grid points, and a subset of the POIs may be identified from the MS captured images by matching the MS captured images of each POI in the subset with corresponding stored images. A cumulative grid point weight for a plurality of grid points in the visibility maps associated with the POIs in the subset may be computed. The cumulative grid point weight for each grid point represents the probability that the MS is located at that grid point. The location of the MS may be estimated based on the cumulative grid point weights of the plurality of grid points.