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The performance of multiple-input multiple-output (MIMO) systems using beam selection is investigated in this paper. Based on the results of a channel sounding campaign carried out at the University of Manitoba for line-of-sight (LOS) and non-line-of-sight (NLOS) scenarios, it was possible to contrast the results of transmitter, receiver and joint beam selection in rich scattering environments. The channel was characterized in the 1-2.4 GHz frequency band with a multipath delay resolution better than 5.8 ns. The beam selection was performed by exhaustive search method. The results led us to important conclusions regarding the beam selection procedure and its potential to improve the indoor channel capacity. In LOS, the single input single output (SISO) system that favours the maximum power direction of arrival (DOA) maximizes the capacity. Capacity improvements are observed by increasing the number of receiver beams (RBs) only at high signal-to-noise ratios (SNRs) for omnidirectional transmission. The best performance in transmitter beam selection in LOS is observed by increasing the number of transmitter beams (TBs) for high SNRs. In the case of NLOS, the capacity performance is improved when more than a single beam is used in either, transmitter or receiver side. The joint transmitter-receiver beam selection exhibits best capacity performance only for large SNRs in LOS while the SISO systems outperforms any joint beam selection alternative for low SNRs. In contrast, in NLOS environments, the use of joint beam selection shows a constant capacity performance improvement starting from lower SNR than in the LOS case. [ABSTRACT FROM AUTHOR]