A system for navigation, comprising: a sensor element operable to measure line features on a plurality of three-dimensional, 3-D, images of an area in a field of view of the sensor element within a first frame at a first time and within at least one second frame at a second time; a processing unit coupled to the sensor element; and an inertial measurement unit, IMU, communicatively coupled to the processing unit, the IMU operable to obtain navigational data at the first and second times, wherein the processing unit is configured to record and compare the line features from the first and second frames of the 3-D images as the system traverses the area, for estimating motion of the system, the processing unit further configured to: select, within a prescribed tolerance threshold, at least one corresponding line feature between the first and the second frames; match the line features from the first frame with each of the corresponding line features in the second frame using at least one of an interline angle or an interline distance between at least two line segments recorded in the plurality of 3-D images; and use a conditional set of geometrical criteria to determine whether the at least one corresponding line feature in the first frame matches with the selection made from the second frame; wherein the processing unit is further configured to: compare the line features of the first and the second frames recorded by the sensor element to determine the interline angle between at least two intersecting line segments, the at least two intersecting line segments selected from the first frame based on a projection of a first line segment of the at least two intersecting line segments on a plane passing through a second line segment of the at least two intersecting line segments and parallel to the first line segment; or compare the line features of the first and the second frames recorded by the sensor element to determine the interline distance between at least two non-intersecting line segments, the at least two non-intersecting line segments selected from the first frame according to a Euclidean metric. a sensor element operable to measure line features on a plurality of three-dimensional, 3-D, images of an area in a field of view of the sensor element within a first frame at a first time and within at least one second frame at a second time; a processing unit coupled to the sensor element; and an inertial measurement unit, IMU, communicatively coupled to the processing unit, the IMU operable to obtain navigational data at the first and second times, wherein the processing unit is configured to record and compare the line features from the first and second frames of the 3-D images as the system traverses the area, for estimating motion of the system, the processing unit further configured to: select, within a prescribed tolerance threshold, at least one corresponding line feature between the first and the second frames; match the line features from the first frame with each of the corresponding line features in the second frame using at least one of an interline angle or an interline distance between at least two line segments recorded in the plurality of 3-D images; and use a conditional set of geometrical criteria to determine whether the at least one corresponding line feature in the first frame matches with the selection made from the second frame; select, within a prescribed tolerance threshold, at least one corresponding line feature between the first and the second frames; match the line features from the first frame with each of the corresponding line features in the second frame using at least one of an interline angle or an interline distance between at least two line segments recorded in the plurality of 3-D images; and use a conditional set of geometrical criteria to determine whether the at least one corresponding line feature in the first frame matches with the selection made from the second frame; wherein the processing unit is further configured to: compare the line features of the first and the second frames recorded by the sensor element to determine the interline angle between at least two intersecting line segments, the at least two intersecting line segments selected from the first frame based on a projection of a first line segment of the at least two intersecting line segments on a plane passing through a second line segment of the at least two intersecting line segments and parallel to the first line segment; or compare the line features of the first and the second frames recorded by the sensor element to determine the interline distance between at least two non-intersecting line segments, the at least two non-intersecting line segments selected from the first frame according to a Euclidean metric. compare the line features of the first and the second frames recorded by the sensor element to determine the interline angle between at least two intersecting line segments, the at least two intersecting line segments selected from the first frame based on a projection of a first line segment of the at least two intersecting line segments on a plane passing through a second line segment of the at least two intersecting line segments and parallel to the first line segment; or compare the line features of the first and the second frames recorded by the sensor element to determine the interline distance between at least two non-intersecting line segments, the at least two non-intersecting line segments selected from the first frame according to a Euclidean metric.