Indoor map is a fundamental element of indoor location-based services (ILBS). However, traditional indoor mapping techniques are labor-intensive and time-consuming. The advancement of smartphones offers great opportunities for crowdsourcing-based indoor mapping, which is one of the most promising applications due to its low cost and flexibility. Over the last decade, many crowdsourcing-based indoor mapping solutions using smartphones have been proposed. This article provides a systematic review of these works. Different from former surveys, we classify the indoor mapping process by the stage of map construction. In particular, we highlight the two key steps, geospatial-element acquisition, and indoor-map construction, and provide state-of-the-art techniques on these topics. Then, we systematically review the crowdsourcing-based indoor mapping solutions under grid-based, landmark-based, and semantic maps. In addition to covering the principles, benefits, and challenges, these systems are compared in terms of sensors, participation, output, experimental environment, and reported accuracy. Besides these existing performance criteria, we extract quantitative performance criteria that are suitable to evaluate crowdsourcing-based indoor mapping solutions. Finally, we present open issues and future research directions.

室内地图是室内基于位置的服务（ILBS）的基本元素。然而，传统的室内制图技术是劳动密集型且耗时的。智能手机的发展为基于众包的室内地图提供了巨大的机会，由于其低成本和灵活性，这是最有前途的应用之一。在过去的十年中，已经提出了许多使用智能手机的基于众包的室内地图解决方案。本文提供了对这些作品的系统评价。与以前的调查不同，我们根据地图构建的阶段对室内制图过程进行分类。特别是，我们重点介绍了两个关键步骤，即地理空间元素获取和室内地图构建，并提供了有关这些主题的最新技术。然后，我们系统地审查了基于网格，基于地标和语义地图的基于众包的室内地图解决方案。除了涵盖原理，优点和挑战之外，还对这些系统的传感器，参与度，输出，实验环境和报告的准确性进行了比较。除了这些现有的绩效标准外，我们还提取了适合评估基于众包的室内地图解决方案的定量绩效标准。最后，我们提出了未解决的问题和未来的研究方向。我们提取了适合评估基于众包的室内地图解决方案的量化性能标准。最后，我们提出了未解决的问题和未来的研究方向。我们提取了适合评估基于众包的室内地图解决方案的量化性能标准。最后，我们提出了未解决的问题和未来的研究方向。