Robust Monte Carlo localization for mobile robots
Artificial Intelligence
Clustering Algorithms
Robotics-based location sensing using wireless ethernet
Proceedings of the 8th annual international conference on Mobile computing and networking
Development of a Wearable Computer Orientation System
Personal and Ubiquitous Computing
Drishti: An Integrated Indoor/Outdoor Blind Navigation System and Service
PERCOM '04 Proceedings of the Second IEEE International Conference on Pervasive Computing and Communications (PerCom'04)
VR '04 Proceedings of the IEEE Virtual Reality 2004
Design and development of an indoor navigation and object identification system for the blind
Assets '04 Proceedings of the 6th international ACM SIGACCESS conference on Computers and accessibility
Dynamic Environment Exploration Using a Virtual White Cane
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Digital Sign System for Indoor Wayfinding for the Visually Impaired
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
A Multi-Camera Pose Tracker for Assisting the Visually Impaired
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
Navigation System for the Blind: Auditory Display Modes and Guidance
Presence: Teleoperators and Virtual Environments
Assisting mobility of the disabled using space-identifying ubiquitous infrastructure
Proceedings of the 10th international ACM SIGACCESS conference on Computers and accessibility
A 3D pose estimator for the visually impaired
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An Optimality Principle Governing Human Walking
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Auditory guidance with the Navbelt-a computerized travel aid forthe blind
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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Indoor localization and navigation systems for individuals with Visual Impairments (VIs) typically rely upon extensive augmentation of the physical space, significant computational resources, or heavy and expensive sensors; thus, few systems have been implemented on a large scale. This work describes a system able to guide people with VIs through indoor environments using inexpensive sensors, such as accelerometers and compasses, which are available in portable devices like smart phones. The method takes advantage of feedback from the human user, who confirms the presence of landmarks, something that users with VIs already do when navigating in a building. The system calculates the user's location in real time and uses it to provide audio instructions on how to reach the desired destination. Initial early experiments suggested that the accuracy of the localization depends on the type of directions and the availability of an appropriate transition model for the user. A critical parameter for the transition model is the user's step length. Consequently, this work also investigates different schemes for automatically computing the user's step length and reducing the dependence of the approach on the definition of an accurate transition model. In this way, the direction provision method is able to use the localization estimate and adapt to failed executions of paths by the users. Experiments are presented that evaluate the accuracy of the overall integrated system, which is executed online on a smart phone. Both people with VIs and blindfolded sighted people participated in the experiments, which included paths along multiple floors that required the use of stairs and elevators.