Hello and thank you for using just answer!
The 2002 camry had 2 setups depending on options.....the keys that you had for this car, do you know for a fact if this car had the immobilizer system or not?
Also is this a 4 cylinder or v6?
Older model Toyotas if this happened you have to replace the computer and keys and the cost was thousands.
I am looking at the chart here and it shows that the 2002-2003 Camry v6 has the new design computer, so bad news here is you have to tow it to a dealer.
Good news is that you can have the computer "reseeded" (reprogrammed) and new keys cut to get you up and running again. Keys are still about $50 each on this and a programming is usually about $200 but this definately beats the alternative of new lock sets and a new computer.