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Multiple input multiple output (MIMO) systems are considered as potential candidates for future high data rate wireless networks. However, these systems present a practical problem, the cost of hardware related to every additional antenna. We focus on antenna selection which is a promised solution to reduce cost and complexity at both transmitter and receiver sides. A new antenna selection criterion based on an accurate approximation for the conditional error probability on quasi-static multiple antenna channels is derived. The proposed criterion is valid when the number of transmit antennas is lower than the number of receive antennas after selection. The maximum likelihood (ML) performance with this criterion is compared to other known antenna selection criteria, e.g. channel capacity, minimum Euclidean distance.