A method for indoor localization using nomadic access points, comprising the following steps: a target object transmits a modulated signal over wireless channels to nearby access points, wherein the access points include both static access points and nomadic access points; the access points measure channel state information via the signal from the target object, after that, the static access points export the channel state information to a server, the nomadic wireless access point report the channel state information along with their coordinates of the current sites to the server; and based on the channel state information, the server determines the target object's relative proximity to two arbitrary access points, then based on the result of the relative proximity determination and the coordinates, the server estimates a feasible region for the target object with a space partition-based algorithm.