A system that facilitates selection of at least one vector from among a plurality of vectors for pacing a first chamber of a heart, the system comprising: an implantable medical device configured to deliver pacing stimuli to the heart and to perform an atrioventricular measurement cycle to measure the intrinsic AV interval; and a capture detection module that, for each of the plurality of vectors, is configured to: control the implantable medical device to iteratively deliver at least one pacing stimulus at each of a plurality of magnitudes within a predetermined range of magnitudes to the first chamber; for each of the plurality of pacing stimuli, determine if a depolarization occurred in a second chamber of the heart within a predetermined threshold time interval after the pacing stimulus that is less than the intrinsic atrioventricular interval; identify a pacing stimulus for which a depolarization in the second chamber does not occur within the predetermined threshold time interval; and determine a capture threshold magnitude for the vector based on the magnitude of the pacing stimulus for which a depolarization in the second chamber does not occur within the predetermined threshold time interval, wherein the capture detection module is configured to record the capture threshold magnitudes for the plurality of vectors for selection of one of the plurality of vectors based on the capture threshold magnitudes. an implantable medical device configured to deliver pacing stimuli to the heart and to perform an atrioventricular measurement cycle to measure the intrinsic AV interval; and a capture detection module that, for each of the plurality of vectors, is configured to: control the implantable medical device to iteratively deliver at least one pacing stimulus at each of a plurality of magnitudes within a predetermined range of magnitudes to the first chamber; for each of the plurality of pacing stimuli, determine if a depolarization occurred in a second chamber of the heart within a predetermined threshold time interval after the pacing stimulus that is less than the intrinsic atrioventricular interval; identify a pacing stimulus for which a depolarization in the second chamber does not occur within the predetermined threshold time interval; and determine a capture threshold magnitude for the vector based on the magnitude of the pacing stimulus for which a depolarization in the second chamber does not occur within the predetermined threshold time interval, wherein the capture detection module is configured to record the capture threshold magnitudes for the plurality of vectors for selection of one of the plurality of vectors based on the capture threshold magnitudes. control the implantable medical device to iteratively deliver at least one pacing stimulus at each of a plurality of magnitudes within a predetermined range of magnitudes to the first chamber; for each of the plurality of pacing stimuli, determine if a depolarization occurred in a second chamber of the heart within a predetermined threshold time interval after the pacing stimulus that is less than the intrinsic atrioventricular interval; identify a pacing stimulus for which a depolarization in the second chamber does not occur within the predetermined threshold time interval; and determine a capture threshold magnitude for the vector based on the magnitude of the pacing stimulus for which a depolarization in the second chamber does not occur within the predetermined threshold time interval, wherein the capture detection module is configured to record the capture threshold magnitudes for the plurality of vectors for selection of one of the plurality of vectors based on the capture threshold magnitudes.