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In pervasive computing, localizing a user in wireless indoor environments is an important yet challenging task. Among the state-of-art localization methods, fingerprinting is shown to be quite successful by statistically learning the signal to location relations. However, a major drawback for fingerprinting is that, it usually requires a lot of labeled data to train an accurate localization model. To establish a fingerprinting-based localization model in a building with many floors, we have to collect sufficient labeled data on each floor. This effort can be very burdensome. In this paper, we study how to reduce this calibration effort by only collecting the labeled data on one floor, while collecting unlabeled data on other floors. Our idea is inspired by the observation that, although the wireless signals can be quite different, the floor-plans in a building are similar. Therefore, if we co-embed these different floors' data in some common low-dimensional manifold, we are able to align the unlabeled data with the labeled data well so that we can then propagate the labels to the unlabeled data. We conduct empirical evaluations on real-world multi-floor data sets to validate our proposed method. ©2009 IEEE.