Abstract: A computerized method for building a multisensory location map, the method may include: receiving, by an interface, multiple multisensory data vectors acquired by multiple mobile devices at multiple locations and location estimates indicative of the multiple locations; wherein at least a majority of the multiple locations are located within an area in which a granularity of global positioning system (GPS) based navigation is below an allowable threshold; wherein the location estimates are at least partially generated by internal navigation systems of the multiple mobile devices; and calculating, by a map calculator, in response to the multiple multisensory data vectors and the location estimates, a location fingerprinting map that comprises multiple grid points, wherein each grid point comprises a multisensory grid point fingerprint and grid point location information.