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This low-cost indoor navigation system runs on off-the-shelf camera phones. More than 2,000 users at four different large-scale events have already used it. The system uses built-in cameras to determine user location in real time by detecting unobtrusive fiduciary markers. The required infrastructure is limited to paper markers and static digital maps, and common devices are used, facilitating quick deployment in new environments. The authors have studied the application quantitatively in a controlled environment and qualitatively during deployment at four large international events. According to test users, marker-based navigation is easier to use than conventional mobile digital maps. Moreover, the users' location awareness in navigation tasks improved. Experiences drawn from questionnaires, usage log data, and user interviews further highlight the benefits of this approach.