Indoor environments offer many possibilities for the development of navigation-aided systems and location-based services. This paper introduces an experimental setup that combines navigation facilities with augmented reality, and which is applied to two museums in the city of Mexico. The approach is based on a semantic model of a museum environment that reflects its organization and spatial structure. The experimental setup combines augmented reality, digital compass devices with smartphones. While several constraints reduce interaction capabilities among exhibitions and visitors, augmented reality offers the possibility of relaxing these constraints by combining real sceneries with digital representations. This enhances interactions between users and objects of interest pointed by the users, where additional multimedia information on the collections presented is available on demand.