A method executed by a user equipment, UE, comprising: the steps of: capturing a plurality of images of the interior of a structure when traversing a plurality of locations within the structure; capturing a plurality of measurement sets, wherein each measurement set corresponds to at least one image, and each measurement set comprises at least one of Inertial Measurement Unit, IMU, measurements or available wireless measurements, wherein the wireless measurements comprise one or more of: Wireless Wide Area Network, WWAN, measurements comprising one of: Observed Time Difference of Arrival, OTDOA, measurements, or Reference Signal Time Difference, RSTD, measurements, or Advanced Forward Link Trilateralation, AFLT, measurements, or hybrid-AFLT measurements; or Wireless Local Area Network, WLAN, measurements comprising Radio Frequency, RF, measurements of Access Points, APs, signals; estimating a trajectory of the UE based, in part, on the captured images and the plurality of measurement sets; said method being characterized in that it further comprises the steps of: sending the estimated trajectory, captured images and corresponding measurement sets to a server wirelessly coupled to the UE; and receiving, by the UE, based on the estimated trajectory, captured images and corresponding measurement sets, an indoor map of the structure from the server, wherein the indoor map is registered to absolute coordinates and comprises information pertaining to a corrected trajectory of the UE. capturing a plurality of images of the interior of a structure when traversing a plurality of locations within the structure; capturing a plurality of measurement sets, wherein each measurement set corresponds to at least one image, and each measurement set comprises at least one of Inertial Measurement Unit, IMU, measurements or available wireless measurements, wherein the wireless measurements comprise one or more of: Wireless Wide Area Network, WWAN, measurements comprising one of: Observed Time Difference of Arrival, OTDOA, measurements, or Reference Signal Time Difference, RSTD, measurements, or Advanced Forward Link Trilateralation, AFLT, measurements, or hybrid-AFLT measurements; or Wireless Local Area Network, WLAN, measurements comprising Radio Frequency, RF, measurements of Access Points, APs, signals; Observed Time Difference of Arrival, OTDOA, measurements, or Reference Signal Time Difference, RSTD, measurements, or Advanced Forward Link Trilateralation, AFLT, measurements, or hybrid-AFLT measurements; or Wireless Local Area Network, WLAN, measurements comprising Radio Frequency, RF, measurements of Access Points, APs, signals; estimating a trajectory of the UE based, in part, on the captured images and the plurality of measurement sets; said method being characterized in that it further comprises the steps of: sending the estimated trajectory, captured images and corresponding measurement sets to a server wirelessly coupled to the UE; and receiving, by the UE, based on the estimated trajectory, captured images and corresponding measurement sets, an indoor map of the structure from the server, sending the estimated trajectory, captured images and corresponding measurement sets to a server wirelessly coupled to the UE; and receiving, by the UE, based on the estimated trajectory, captured images and corresponding measurement sets, an indoor map of the structure from the server, wherein the indoor map is registered to absolute coordinates and comprises information pertaining to a corrected trajectory of the UE.