The present disclosure is generally directed to obtaining location information of a person or a machine when the person or machine uses an imaging device to capture an image of one or more objects located in an indoor facility. The location information can be obtained by processing the captured image in conjunction with a reference map and/or a database. The reference map can be generated by using one or more reference images of the various objects in the indoor facility. The database can contain information such as a location, a dimension, and an orientation of each of the various objects in the indoor facility. The location information can also be obtained by processing the captured image to examine encoded data content in a label and/or an imaging distortion present in the label. The labels, which can be barcode labels, are affixed to various object in the indoor facility.