1. A method on a user equipment (UE) comprising: capturing a plurality of images of the interior of a structure when traversing a plurality of locations within the structure; capturing a plurality of measurement sets, wherein each measurement set corresponds to at least one image, and each measurement set comprises at least one of Inertial Measurement Unit (IMU) measurements or available wireless measurements; estimating a trajectory of the UE based, in part, on the captured images and the plurality of measurement sets; sending the estimated trajectory, captured images and corresponding measurement sets to a server wirelessly coupled to the UE; and receiving, based on the estimated trajectory, captured images and corresponding measurement sets, an indoor map of the structure from the server, wherein the indoor map is registered to absolute coordinates and comprises information pertaining to a corrected trajectory of the UE.