A computer implemented method of enhancing positioning of a moving vehicle based on visual identification of visual objects, comprising: obtaining from a location sensor a global positioning information indicating a measured geographic position of a moving vehicle and a movement vector of the moving vehicle; capturing a plurality of images using a plurality of imaging devices mounted on the moving vehicle to depict at least partial view of a surroundings of the moving vehicle; selecting at least one image captured by at least one relevant imaging device from the plurality of images captured by the plurality of imaging devices , wherein the at least one relevant imaging device is determined based on the movement vector; obtaining visual data from a visual data record associated with a navigation map, the visual data corresponding to known visual objects having known geographical locations, the visual objects being retrieved based on the known geographical locations, the measured geographic position and the movement vector, such that the retrieved visual objects are located in the surroundings of the vehicle; analyzing the at least one image, to identify at least one visual object; analyzing the at least one image, to calculate a relative positioning of the moving vehicle with respect to the at least one identified visual object, wherein the relative positioning is calculated based on triangulation and/or homographic transformation performed over the same visual object identified in two or more consecutive images captured by the at least one relevant imaging device; calculating an enhanced positioning of the moving vehicle based on the relative positioning and the known geographical position of the at least one visual object; and applying the enhanced positioning to a navigation system of the moving vehicle. obtaining from a location sensor a global positioning information indicating a measured geographic position of a moving vehicle and a movement vector of the moving vehicle; capturing a plurality of images using a plurality of imaging devices mounted on the moving vehicle to depict at least partial view of a surroundings of the moving vehicle; selecting at least one image captured by at least one relevant imaging device from the plurality of images captured by the plurality of imaging devices , wherein the at least one relevant imaging device is determined based on the movement vector; obtaining visual data from a visual data record associated with a navigation map, the visual data corresponding to known visual objects having known geographical locations, the visual objects being retrieved based on the known geographical locations, the measured geographic position and the movement vector, such that the retrieved visual objects are located in the surroundings of the vehicle; analyzing the at least one image, to identify at least one visual object; analyzing the at least one image, to calculate a relative positioning of the moving vehicle with respect to the at least one identified visual object, wherein the relative positioning is calculated based on triangulation and/or homographic transformation performed over the same visual object identified in two or more consecutive images captured by the at least one relevant imaging device; calculating an enhanced positioning of the moving vehicle based on the relative positioning and the known geographical position of the at least one visual object; and applying the enhanced positioning to a navigation system of the moving vehicle. <EOS>