Bed & Breakfast
There are a number of bed and breakfast offering in Rio, many of which are offered on the big internet booking sites like Expedia. If you use Airbnb there are a number of good options in Rio de Janeiro.
There are not too many options to camp in Rio de Janeiro but if you do want to go hiking and camping then contact the Camping Clube do Brasil (75 Rua Senador Dantas, 29° Andar, Rio de Janeiro, tel: 21-3479 4200 or 0800-227 050). They operate campsites throughout the country and organize hiking trip.