For FHA backed mortgages the FHA changed the rules on PMI in 2013 where you are no longer able to remove the PMI after the loan reaches 78% loan-to-value and annual MIP has been paid for at least 60 months. For FHA mortgages finalized after June 3, 2013 the payments are there for the life of the loan. So can be worth considering refinancing once you are in the position to qualify for conventional financing and pay 20% down.