A method, apparatus, computer readable storage medium and system are disclosed for generating a radio map for indoor navigation and/or floor detection. The method includes obtaining one or more first fingerprints, which stem from one or more radio nodes comprised by an infrastructure of a venue. The one or more radio nodes are surrounding the first apparatus so that the first apparatus is located within each respective coverage area of the one or more radio nodes. The method also includes generating a radio map based at least partially on the one or more first fingerprints; and outputting the generated radio map.