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We present FootPath, a self-contained, map-based indoor navigation system. Using only the accelerometer and the compass readily available in modern smartphones we accurately localize a user on her route, and provide her with turn-by-turn instructions to her destination. To compensate for inaccuracies in step detection and heading estimation, we match the detected steps onto the expected route using sequence alignment algorithms from the field of bioinformatics. As our solution integrates well with OpenStreetMap, it allows painless and cost-efficient collaborative deployment, without the need for additional infrastructure.