A computer-implemented method of localization for an indoor environment is provided, including receiving, in real-time, a dynamic query from a first source, and static inputs from a second source; extracting features of the static inputs by applying a metric learning convolutional neural network (CNN), and aggregating the extracted features of the static inputs to generate a feature transformation; and iteratively extracting features of the dynamic query on a deep CNN as an embedding network and fusing the feature transformation into the deep CNN, and applying a triplet loss function to optimize the embedding network and provide a localization result.