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We describe our 3-D museum guide system and the pilot study we did to evaluate it. The prototype system used in the pilot study uses a human positioning system based on dead reckoning, active RFIDs, and map matching. The system manages content consisting of 3-D maps, recommended routes, and Flash files to provide appropriate navigation information based on estimated user position, azimuth, and history. The pilot study was conducted at the Science Museum. We got useful feedback from participants about 3-D maps, recommended routes, etc.