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Currently, outdoor navigation systems have widely been used around the world on smartphones. They rely on GPS (Global Positioning System). However, indoor navigation systems are still under development due to the complex structure of indoor environments, including multiple floors, many rooms, steps, and elevators. In this paper, we present the design and implementation of the <i>Indoor Navigation System using Unity and Smartphone (INSUS)</i>. <i>INSUS</i> shows the arrow of the moving direction on the camera view based on a smartphone’s augmented reality (AR) technology. To trace the user location, it utilizes the Simultaneous Localization and Mapping (SLAM) technique with a gyroscope and a camera in a smartphone to track users’ movements inside a building after initializing the current location by the QR code. <i>Unity</i> is introduced to obtain the 3D information of the target indoor environment for <i>Visual SLAM</i>. The data are stored in the IoT application server called <i>SEMAR</i> for visualizations. We implement a prototype system of <i>INSUS</i> inside buildings in two universities. We found that scanning QR codes with the smartphone perpendicular in angle between <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mn>60</mn><mo>∘</mo></msup></semantics></math></inline-formula> and <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mn>100</mn><mo>∘</mo></msup></semantics></math></inline-formula> achieves the highest QR code detection accuracy. We also found that the phone’s tilt angles influence the navigation success rate, with <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mn>90</mn><mo>∘</mo></msup></semantics></math></inline-formula> to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mn>100</mn><mo>∘</mo></msup></semantics></math></inline-formula> tilt angles giving better navigation success compared to lower tilt angles. INSUS also proved to be a robust navigation system, evidenced by near identical navigation success rate results in navigation scenarios with or without disturbance. Furthermore, based on the questionnaire responses from the respondents, it was generally found that INSUS received positive feedback and there is support to improve the system.