Navigation systems help users access unfamiliar environments. Current technological advancements enable users to encapsulate these systems in handheld devices, which effectively increases the popularity of navigation systems and the number of users. In indoor environments, lack of Global Positioning System (GPS) signals and line of sight with orbiting satellites makes navigation more challenging compared to outdoor environments. Radio frequency (RF) signals, computer vision, and sensor-based solutions are more suitable for tracking the users in indoor environments. This article provides a comprehensive summary of evolution in indoor navigation and indoor positioning technologies. In particular, the paper reviews different computer vision-based indoor navigation and positioning systems along with indoor scene recognition methods that can aid the indoor navigation. Navigation and positioning systems that utilize pedestrian dead reckoning (PDR) methods and various communication technologies, such as Wi-Fi, Radio Frequency Identification (RFID) visible light, Bluetooth and ultra-wide band (UWB), are detailed as well. Moreover, this article investigates and contrasts the different navigation systems in each category. Various evaluation criteria for indoor navigation systems are proposed in this work. The article concludes with a brief insight into future directions in indoor positioning and navigation systems.

导航系统帮助用户进入不熟悉的环境。当前的技术进步使用户能够将这些系统封装在手持设备中，这有效地增加了导航系统的普及度和用户数量。在室内环境中，由于缺乏全球定位系统 (GPS) 信号以及轨道卫星的视线，使得导航比室外环境更具挑战性。射频 (RF) 信号、计算机视觉和基于传感器的解决方案更适合跟踪室内环境中的用户。本文全面总结了室内导航和室内定位技术的演变。本文特别回顾了不同的基于计算机视觉的室内导航和定位系统以及有助于室内导航的室内场景识别方法。还详细介绍了利用行人航位推算 (PDR) 方法和各种通信技术（例如 Wi-Fi、射频识别 (RFID) 可见光、蓝牙和超宽带 (UWB)）的导航和定位系统。此外，本文还研究并对比了每个类别中的不同导航系统。这项工作提出了室内导航系统的各种评估标准。本文最后简要介绍了室内定位和导航系统的未来方向。