Described herein is a framework for outdoor localization. In accordance with one aspect of the framework, a set of hotspot labels are received from one or more user devices connected to an outdoor wireless local area network. Manifold learning may be performed based on the set of hotspot labels to construct one or more manifolds. Using the one or more constructed manifolds, the framework may then estimate a location of a particular user device associated with a query record received from during an online location query.