Abstract
Despite their enormous potential, the use of indoor localization systems (ILS) remains seldom. One reason is the lack of market transparency and stakeholders' trust in the systems' performance as a consequence of insufficient use of test and evaluation (T&E) methodologies. The heterogeneous nature of ILS, their influences, and their applications pose various challenges for the design of a methodology that provides meaningful results. Methodologies for building-wide testing exist, but their use is mostly limited to associated indoor localization competitions. In this work, the T&E 4iLoc Framework is proposed-a methodology for T&E of indoor localization systems in semi-controlled environments based on a system-level and black-box approach. In contrast to building-wide testing, T&E in semi-controlled environments, such as test halls, is characterized by lower costs, higher reproducibility, and better comparability of the results. The limitation of low transferability to real-world applications is addressed by an application-driven design approach. The empirical validation of the T&E 4iLoc Framework, based on the examination of a contour-based light detection and ranging (LiDAR) ILS, an ultra wideband ILS, and a camera-based ILS for the application of automated guided vehicles in warehouse operation, demonstrates the benefits of T&E with the T&E 4iLoc Framework.