The Indoor Survey app was briefly advertised on the mapsconnect.apple.com webpage which read "Indoor: Sign up to find out more about how to get indoor positioning at your venue. Sign Up".
Here's the app description:
Enable indoor positioning within a venue using the Indoor Survey App. By dropping “points” on a map within the Survey App, you indicate your position within the venue as you walk through. As you do so, the Indoor Survey App measures the radio frequency (RF) signal data and combines it with an iPhone’s sensor data. The end result is indoor positioning without the need to install special hardware.
Check out the screenshots below. At this point the app is not yet functional and it's not yet searchable in the App Store. Here's the direct link.