A method for estimating the location of a mobile device in an indoor facility is disclosed. The method includes receiving a first sequence of image frames captured by a first camera, the first sequence of image frames being captured when the first camera is substantially faced toward a ceiling of the indoor facility; for each pair of consecutive image frames in the first sequence: identifying a transformation between the pair of image frames, and correlating the transformation with an estimated change in position of the mobile device; obtaining a first sequence of displacements based on the estimated changes in position of the mobile device for the pairs of consecutive image frames in the first sequence; and determining the current location of the mobile device within the indoor facility based on an initial location of the mobile device and the first sequence of displacements.