Embodiments of the disclosure provide an indoor positioning device, a movable device including the same, a method for positioning a movable device in an indoor space and a computer-readable medium. The indoor positioning device includes an imaging unit for capturing image information of at least one of a plurality of luminaires which are located at a top of the indoor space, a storage unit for storing information of a luminaire Voronoi diagram includes a plurality of Voronoi diagram units, each Voronoi diagram unit includes a generator which is located in a projection of a respective luminaire of the plurality of luminaires on a horizontal plane of the indoor space, and a processor for receiving the image information and the information of the luminaire Voronoi diagram, and calculate a position of the imaging unit in the indoor space based on the image information and the information of the luminaire Voronoi diagram.