The present disclosure is directed towards mobile device location estimation, and more particularly, to indoor mobile device location estimation. One computer-implemented method includes using indoor floor map, indoor wireless local area network (WLAN) access point (AP) location map and constructing a pseudo-AP map associated with an indoor location, wherein the pseudo-AP map includes at least one pseudo-AP, each pseudo-AP a function of at least a radio-frequency (RF) signal strength indication (RSSI) associated with at least one actual AP associated with the indoor location; estimating a mobile device location within the boundaries of the indoor location using at least one actual AP associated with the indoor location, and at least one pseudo-AP from the pseudo-AP map associated with the indoor location; and using the estimated mobile device location for indoor navigation within the indoor location.