An electronic device reduces localization data based on feature characteristics identified from the data. Based on the feature characteristics, a quality value can be assigned to each identified feature, indicating the likelihood that the data associated with the feature will be useful in mapping a local environment of the electronic device. The localization data is reduced by removing data associated with features have a low quality value, and the reduced localization data is used to map the local environment of the device by locating features identified from the reduced localization data in a frame of reference for the electronic device.