Figure 9.

The test environment including the paths of all conducted walks. This is the second of four floors in our university building. Path 1 and 2 started at the right side of the building and are both round trips, that take the same route back. Path 3 started in the same room as where access point (AP) 3 is located. It makes a short detour into a laboratory room and ends after crossing a lecture room at the right end of the building. The calibration path is used as the input to the parameter optimization and was walked in both directions.