This work presents a new Indoor Positioning System (IPS) based on the combination of WiFi Positioning System (WPS) and depth maps, for estimating the location of people. The combination of both technologies improves the efficiency of existing methods, based uniquely on wireless positioning techniques. While other positioning systems force users to wear special devices, the system proposed in this paper just requires the use of smartphones, besides the installation of RGB-D sensors in the sensing area. Furthermore, the system is not intrusive, being not necessary to know people’s identity. The paper exposes the method developed for putting together and exploiting both types of sensory information with positioning purposes: the measurements of the level of the signal received from different access points (APs) of the wireless network and the depth maps provided by the RGB-D cameras. The obtained results show a significant improvement in terms of positioning with respect to common WiFi-based systems.