To generate navigation directions for a driver of a vehicle, a route for guiding the driver to a destination is obtained, visual landmarks corresponding to prominent physical objects disposed along the route are retrieved, and real-time imagery is collected at the vehicle approximately from a vantage point of the driver during navigation along the route. Using (i) the retrieved visual landmarks and (ii) the imagery collected at the vehicle, a subset of the visual landmarks that are currently visible to the driver is selected. Navigation directions describing the route are provided the driver, the navigation directions referencing the selected subset of the visual landmarks and excluding the remaining visual landmarks.