Table 10.

Comparison of developed indoor navigation systems

Reference	Technology	System	Techniques	Tested by	Test	Feedback	Accuracy	Remarks
CamNav	Computer vision	Smartphone, laptop	CNN based scene recognition	Blindfolded	Error occurred during navigation and navigation time	Voice	Medium	(−) Hard to differentiate indoor locations with similar appearance
QRNav	Computer vision	Smartphone, laptop, QR codes	QR code recognition	Blindfolded	Error occurred during navigation and navigation time	Voice	Medium	(−) Requires large amount of QR codes for safe navigation
BLE base system	BLE	Beacons and smartphone	Fingerprinting and trilateration	Blindfolded	Error occurred during navigation and navigation time	Voice	Low	(−) Relatively low accuracy resulted in navigation errors