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Disability and Rehabilitation: Assistive Technology
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Survey and analysis of the current status of
research in the field of outdoor navigation for the
blind
Yue Lian, De-er Liu & Wei-zhen Ji
To cite this article: Yue Lian, De-er Liu & Wei-zhen Ji (2023): Survey and analysis of the current
status of research in the field of outdoor navigation for the blind, Disability and Rehabilitation:
Assistive Technology, DOI: 10.1080/17483107.2023.2227224
To link to this article: https://doi.org/10.1080/17483107.2023.2227224
Published online: 04 Jul 2023.
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ORIGINAL RESEARCH
Survey and analysis of the current status of research in the field of outdoor
navigation for the blind
Yue Lian
a
, De-er Liu
a
and Wei-zhen Ji
b
a
School of Civil Engineering and Mapping and Engineering, Jiangxi University of Technology, Ganzhou, Jiangxi, China;
b
State Key Laboratory of
Remote Sensing Science, Beijing Normal University, Beijing, China
ABSTRACT
Purpose: In this article, we comprehensively review the current situation and research on technology
related to outdoor travel for blind and visually impaired people (BVIP), given the diverse types and
incomplete functionality of navigation aids for the blind. This aims to provide a reference for related
research in the fields of outdoor travel for BVIP and blind navigation.
Materials and methods: We compiled articles related to blind navigation, of which a total of 227 of
them are included in the search criteria. One hundred and seventy-nine articles are selected from the ini-
tial set, from a technical point of view, to elaborate on five aspects of blind navigation: system equip-
ment, data sources, guidance algorithms, optimization of related methods, and navigation maps.
Results: The wearable form of assistive devices for the blind has the most research, followed by the
handheld type of aids. The RGB data class based on vision sensor is the most common source of naviga-
tion environment information data. Object detection based on picture data is also particularly rich among
navigation algorithms and associated methods, indicating that computer vision technology has become
an important study content in the field of blind navigation. However, research on navigation maps is rela-
tively less.
Conclusions: In the study and development of assistive equipment for BVIP, there will be an emphasis
on prioritizing attributes, such as lightness, portability, and efficiency. In light of the upcoming driverless
era, the research focus will be on the development of visual sensors and computer vision technologies
that can aid in navigation for the blind.
�IMPLICATIONS FOR REHABILITATION
The visual deficiency can easily help blind and visually impaired people (BVIP) to develop psycho-
logical disorders.
There are few, if any, devices to meet the outdoor travel needs of BVIP in all aspects.
There is no comprehensive summary and overview in the field of outdoor navigation for the blind.
The selection of appropriate assistive devices can help BVIP better understand the information of
their surroundings and make safer and more effective outdoor trips.
ARTICLE HISTORY
Received 26 July 2022
Revised 14 March 2023
Accepted 13 June 2023
KEYWORDS
Blind; blind navigation;
assistive devices; outdoor;
computer vision
Introduction
The World Health Organization and the World Vision Report 2019
indicate that the number of individuals with visual impairments
worldwide exceeds 2.2 billion. China is home to the largest visu-
ally impaired population in the world, with its blind population
constituting 20% of the global total [1]. In 2019, there were
17.31 million individuals with visual impairments in China, with
over 8 million of them being completely blind, and number of
individuals with visual impairments is rising by 450,000 annually.
Blind corridors and barrier-free facilities have been constructed in
most outdoor areas, such as streets, parks, and roads to facilitate
travel for BVIP, who mainly use these corridors for outdoor navi-
gation. However, barrier-free facilities exhibit certain issues, such
as inadequate design, obstructions in circulation pathways, and
inadequate follow-up management of circulation pathways [2–6].
At the same time, visual impairment poses a significant cognitive
barrier for blind people [7]. The latter is the source of several
uncertainties regarding the use of assistive devices and, ultim-
ately, makes it harder to perceive the surrounding environment.
Making it very difficult for blind people to get around [8–10]. It is
difficult to solve in a short period of time [11], which poses a
huge challenge for the blind to travel safely. The visually impaired
population relies on their remaining senses to navigate their geo-
graphical surroundings [12]. However, their mobility is often
restricted compared to those without visual impairments [13].
These limitations can result in a narrow social circle and a
secluded lifestyle, ultimately leading to potential psychological
complications [14]. Due to the diversity of assistive devices and
their different functions, the selection of appropriate guide assist-
ive devices can assist BVIP in further exploring the environment
[15], traveling safely, and improving their quality of life.
Before the development of intelligent assistive devices for the
blind, blind people frequently traveled outdoors using simple
guide canes (Figure 6). The tip of the canes helps blind individuals
CONTACT Yue Lian leeyelyly@qq.com School of Civil Engineering and Mapping and Engineering, Jiangxi University of Technology, Ganzhou, Jiangxi, 341000,
China
� 2023 Informa UK Limited, trading as Taylor & Francis Group
DISABILITY AND REHABILITATION: ASSISTIVE TECHNOLOGY
https://doi.org/10.1080/17483107.2023.2227224
detect and avoid obstacles found on the navigational path,
adjusting accordingly to their travel destination. Several research-
ers have studied various aspects of assisting BVIP travel, adding
different sensors, such as ultrasonic, infrared, and visual sensors
on the basis of traditional assistive devices for the blind, driven
by the Internet of Things, Big Data, artificial intelligence, and
other technologies. Furthermore, the sensory modalities employed
by BVIP have been augmented to include not only tactile sensa-
tions but also auditory and mental imagery, thereby enhancing
their ability to navigate the outdoor environment with safety and
confidence.
The BVIP places a greater emphasis on factors, such as dis-
tance and duration when engaging in outdoor navigation [16].
Additionally, the stress of travel and individual experiences can
significantly impact the BVIP’s outdoor travel experience. The find-
ings of Syed Rizal Alfam Wan and Mohamad Noh [17] suggest
that BVIP prioritizes safety when navigating outdoors, specifically
concerning road crossings, obstacles, individuals, and road condi-
tions, such as potholes. Furthermore, BVIP shows a preference for
walking stick-type aids during outdoor trips. Wu [18] conducted
an analysis of the outdoor travel needs of blind individuals, which
revealed that accessibility features, such as pavements, blind corri-
dors, zebra crossings, steps, and accessible ramps require greater
accuracy, comprehensiveness, and real-time geographical informa-
tion for BVIPs compared to the general population.
The guidance of BVIP outdoor trips involves the use of posi-
tioning and object recognition detection techniques to enable
obstacle avoidance and path planning during navigation. The
data required for these tasks are primarily comprised of visual
images, three-dimensional point cloud, and infrared data. The
related process is shown in Figure 1.
Mack et al. [19] conducted a comprehensive review of accessi-
bility-related articles published in the CHI and ASSETS databases
from 1994 to 2019. The authors found that more than 43% of the
articles in the last decade were focused on issues related to blind
and visually impaired people (BVIP). These studies can be grouped
into three categories: system component/application technology,
navigation mode/device, and navigation task. System componen-
t/application technology studies generally focus on the structure
of navigation systems for the blind, as well as the techniques and
methods used by these systems. According to Bhowmick et al.
[20], assistive technology for BVIP can include various elements,
such as technology, devices, equipment, services, systems, proc-
esses, and environmental transformations, which can assist blind
individuals in engaging in production and living independently.
Kuriakose et al. [21] provide an overview of the current state of
navigation systems designed for visually impaired individuals and
classify these systems based on underlying technologies.
Fernandes et al. [22] describe navigation and localization technol-
ogies for BVIP and modify conventional navigation systems to
address the needs and limitations of visually impaired users.
Navigation mode/device research primarily focuses on the meth-
ods and aids used by BVIP to navigate outdoor environments. For
instance, Zhu Xiang Cheng categorizes blind navigation mode
into four groups, including guide dogs, handheld, wearable, and
mobile guide aids [11], while Wu et al. [23] divides guide robots
into five categories, including mobile guide robots, intelligent ter-
minal-based guide systems, wearable guide devices, handheld
guide instruments, and intelligent guide canes. Navigation aids
can be divided into two groups based on traditional and new
types, according to Cheng [24], while Wang et al. [25] classify
pathfinding aids into four groups, including electronic conducting
aids, mobile guide aids, intelligent canes, and intelligent guiding
systems. Dakopoulos et al. [26] classify navigation electronics into
Electronic Travel Aids (ETAs), Electronic Orientation Aids (EOAs),
and Position Locating Devices (PLDs). Tapu et al. [27] evaluate the
advantages and limitations of each technique in outdoor naviga-
tion systems. Navigation task research is arranged according to
the purpose of BVIP travel, the function of the system, or the pro-
cess of blind navigation. For example, Anandan et al. [28] categor-
ize navigation system tasks into three groups, including
environmental mapping, travel planning, and real-time navigation,
and navigation activities into five groups, including walking assis-
tants, travel aids, visual alternative navigation systems, navigation
systems, and aided navigation systems. El-Taher et al. [29] decom-
pose the navigation area into navigation phases and navigation
tasks, providing a systematic review of methodological, data set,
and task limitations in the literature.
Several researchers have conducted literature reviews on the
topic of BVIP navigation. Khan et al. [30] undertook a historical
analysis of 191 relevant articles, proposing an improved procedure
for reducing fatalities and serious injuries among BVIP. Horton
et al. [31] retrieved and systematically reviewed 36 articles on
hardware platforms, applications, and user testing of assistive
devices from the EBSCO literature database. In a study of 36
articles about the White Cane, Khan et al. [32] provided a specific
review of this widely used mobility aid for BVIP, while Prandi
et al. [33] analyzed 111 articles on barrier-free wayfinding and
navigation from various perspectives, including usage back-
ground, audience, technology, data types, and evaluation, to pro-
vide insights for designing barrier-free environments in the future.
All of these studies have made significant contributions to the
field of blind navigation so far, but few reports have systematic-
ally summarized and sorted them out. In the article, the authors
[29] point out the limitations of review articles related to blind
navigation: (1) Incomplete collection of literature; (2) No discus-
sion of the use of relevant algorithms; (3) No comparison between
systems, algorithms used, and methods. Our study presents a clas-
sification approach for blind navigation research. This method is
based on three primary categories, namely, system componen-
t/application technology, navigation mode/device, and navigation
task. We further classify these categories into five subcategories,
which include guide aids, sources, and types of environmental
information data for the aids, algorithms used in the guiding pro-
cess, methods of guiding, and navigation maps used directly by
the BVIP. We apply this methodology to collect research articles
related to blind navigation research, which enables a more sys-
tematic and comprehensive analysis of the literature in this field.
The collected articles were systematically arranged to provide a
Figure 1. Overview of the navigation system process for the blind.
2 L. YUE ET AL.
comprehensive overview and evaluation of the current state of
research on five distinct topics, with a particular focus on their
technical aspects. This serves as a crucial aid in expediting the
comprehension of industry advancements among fellow research-
ers in related fields, by highlighting the strengths and limitations
of the content. Moreover, this paper presents the research gaps
and key scientific challenges in the field of blind navigation, and
provides an outlook on the future prospects based on the current
era of cutting-edge technologies.
Methods
This study uses a systematic review approach [34] and draws on
the structure of Fernando N’s article [35] to collate the data sup-
port needed to conduct an analysis of the current state of
research in the field of outdoor navigation for the blind. A sys-
tematic literature review is a process of identifying, evaluating,
and interpreting all research relevant to a research question and
requires the researcher to summarize all available information
relevant to that research in a thorough and unbiased manner.
Acquisition of data
Determination of data source
The articles analyzed in this study were sourced from diverse aca-
demic disciplines. To obtain the relevant literature, a systematic
search was conducted across eight prominent journal databases,
including Web of Science, Science Direct, Engineering Village, IEEE
Xplore, Springer Link, CNKI, WANFANG Data, and VIP Journal,
selected from the university library based on their scope and
coverage of outdoor blind navigation literature.
Search of data
The keywords “blind navigation”, “outdoor”, and “guide” were
used in the Chinese journal database, and the keywords
“guidance”, “blind people”, “outdoor”, “blind”, “blind navigation”,
and “assist” were used in the English journal database to search
by the combination of title, abstract and keywords according to
the research content and scope.
Selection of content
Inclusion criteria. The collected articles include the following con-
tent or conditions: (1) Studies related to blind navigation in out-
door; (2) Relevant studies that are applicable both indoors and
outdoors; (3) Research and design of navigation systems and devi-
ces for the blind; (4) Development of algorithms related to navi-
gation processes; (5) Design of methods related to navigation
processes; (6) Measurement related to blind navigation; (7)
Concepts related to blind navigation; (8) Publication before and
including 2021. The above are included respectively in each part
of navigation system process for the blind.
Exclusion criteria. Based on the research content of this paper,
articles that appear as follows will be excluded from our collec-
tion: (1) Reviews related to blind navigation; (2) Studies related to
blind navigation in indoor; (3) Aids for the blind that are not
related to travel; (4) Research reports from the experimental pro-
gram phase of blind navigation.
Collation of the literature
Collated from articles obtained from various journal databases in
the previous period:
Culling. (1) Remove repetitive articles; (2) Remove articles that can
be searched but not viewed and downloaded; (3) Eliminate
articles of poor quality.
Collating. Recording the basic information of the collected
articles, including (1) Title; (2) Abstract; (3) Publication date; (4)
Reference citation; (5) Brief research content and research purpose
of the article.
Results. Based on the above collation, a total of 227 articles were
obtained that matched the content of the study, and the specific
flow is shown in Figure 2.
The statistical graph of the literature obtained from the previ-
ous collection is shown in Figure 3. The data indicates a steady
rise in the number of literature available across various journal
databases from 2000 to 2021. Notably, there is a visible shift
from a lower number of relevant literature collections in the ear-
lier decade (before 2010) to a significant increase in the latter
decade. This trend reflects the growing concern for safe outdoor
travel of BVIP, which necessitates an examination and analysis of
the present research status in the area of outdoor blind naviga-
tion, in line with the general trend of social development.
Strategies for data classification
It is divided according to the collected literature data, as shown
in Figure 4 below. The two components, navigation system, and
equipment, account for a relatively large share, 46 and 55% in
China and other countries in total.
The collected literature data are analyzed and classified based
on the article as a whole, and the current research status of out-
door blind navigation is analyzed from various perspectives, fol-
lowed by a summary and outlook based on its development
trend. Accordingly, 179 articles were chosen from the collected
articles and analyzed from the five topics listed below:
Topic 1: Navigation system devices for the blind. This topic is
based on the direct needs of the users, who are mostly in need
of hardware devices or software installed on their cell phones or
portable computers to carry them around when walking outdoors.
Figure 2. Flow chart of literature processing.
A SURVEY AND ANALYSIS OF NAVIGATION FOR THE BLIND 3
The literature referenced in this section is the blind navigation
systems and devices category in Figure 4.
Topic 2: Sources and types of environmental information data
for blind navigation. The data used by the user to sense and
obtain information about the surrounding environment is in the
form of infrared, point cloud, RGB, RGBD, and RFID. The division
of this part is based on information about the device used by the
user, and the literature referenced is consistent with the device
class of navigation systems for the blind.
Topic 3: Algorithmic aspects of blind navigation. In the design
of assistive devices for the blind, various aspects of the navigation
system process for the blind, has localization, detection and rec-
ognition, path planning, and obstacle avoidance, require the use
of algorithms to ensure the accurate characterization of their per-
ceived surroundings. The reference literature is the algorithms
related to blind navigation in Figure 4.
Topic 4: Optimization of navigation methods for the blind. This
category is based on the navigation system process for the blind,
where higher accuracy is achieved by changing methods or strat-
egies in each part of the process. The reference literature is the
method optimization category in Figure 4.
Topic 5: Navigation Map for the Blind. The topic is proposed
as an alternative way for blind people to travel or to travel by
transforming senses, such as hearing and touch into a mental
map. The literature referenced in this section is the navigation
map section for the blind in Figure 4.
Results
Navigation system devices for the blind
The literature related to navigation systems and devices for the
blind was screened and organized in a total of 123 articles,
accounting for 68% of the total literature. This section is mainly
categorized and discussed by equipment aids.
According to scholarly literature, the development of assistive
devices for the visually impaired can be traced back to the intro-
duction of the first guided electronic travel aid (ETA) in 1897.
From the mid-1960s to the 1990s, assistive devices [36] relied
heavily on sensor arrays, such as ultrasonic, laser, and infrared to
detect and alert users to obstacles [37]. During the late 1990s to
the early 2000s, CCD cameras and human-related sensor arrays
Figure 3. Yearly statistics of the number of journals in each journal inclusion database.
Figure 4. Percentage of domestic and foreign outdoor navigation references by category. (a) Percentage of domestic outdoor navigation references by category. (b)
Percentage of foreign outdoor navigation references by category.
4 L. YUE ET AL.
were utilized to provide users with more comprehensive environ-
mental information in the form of “displays” to aid in navigation.
In recent years, cameras, LIDAR, point clouds, and radio frequency
identification (RFID) have become the primary technologies
employed in developing assistive devices for the visually impaired.
These devices facilitate human-machine interaction and enhance
the ease with which blind individuals can travel [25].
Many assistive devices for BVIP utilize sensors to detect
obstacles and guide them. These devices acquire and process
image or signal information, and convey this information through
tactile and auditory means, such as canes, belts, glasses, and hel-
mets. The design of such devices must take into account factors,
such as weight and comfort. However, due to the need for com-
plex functions on small objects, traditional assistive devices may
be limited in their effectiveness.
Analysis of data
For assistive devices for the blind, different classification bases
lead to different classification results. Chen et al. distinguished
between long-distance and near-distance guide aids [36], while
Zhu et al. [11] classified guide dogs into four categories based on
their mode of assistance. Additionally, Cheng [24] differentiated
between traditional and new types of assistive devices for the
blind based on their degree of novelty. In this paper, we present
a classification of assistive devices for visually impaired individuals
based on the way the device is used, namely, wearable aids,
handheld aids, and mobile aids. Based on statistical data gathered
from the research literature, as depicted in Figure 5, the category
of wearable aids has the highest number of articles at 55, fol-
lowed by handheld aids at 42, and mobile aids at 12.
Furthermore, there were 14 articles concerning other types of
aids. It is worth noting that More has been written about wear-
able assistive devices, which are relatively diverse and mostly
available in the form of composite wears, while handheld aids pri-
marily consist of rods and canes. Mobile aids, on the other hand,
are not as prevalent. The remaining category, comprising naviga-
tors and obstacle avoidance devices, is not classifiable as either
wearable, handheld, or mobile. These devices are primarily cre-
ated in China to aid the visually impaired in their travels.
Wearable aids
Numerous academics have conducted research on the topic of
wearable assistive devices. For instance, Lakshmanan et al. [38]
carried out a comprehensive analysis of wearable devices that
facilitate navigation for BVIP in outdoor settings. Various wearable
guide aids have been identified in the literature, including but
not limited to glasses, shoes, gloves, belts, helmets, bracelets,
undershirts, rings, headphones, and composite types. The relevant
types are introduced as shown in Table 1.
Handheld aids
Most of the handheld aids are canes, which are instruments used
by BVIP to extend the tactile sensation of the arms to understand
the surrounding ground environment. According to the National
Standard of the People’s Republic of China specifies that the blind
cane is comprised of four essential components: wrist strap, han-
dle, cane body, and cane tip [92], as depicted in Figure 6.
According to research, the cane has undergone several
changes in design, from the white cane in France after World War
I to the Hoover cane after World War II, and then to the straight
section and folding cane. In China, it has become a popular hand-
held guide aid due to its convenience and affordability. However,
the cane has limitations in detecting objects within a limited
radius of 1 m, and is unable to detect obstacles at the same
height or further away [15]. Additionally, it cannot detect floating
objects, such as strips or branches [93], which can potentially
endanger the safety of the blind person and hinder their effective
travel. To address these limitations, electronic smart guide canes
have been developed, comprising of a cane head, control box,
cane body, and cane tip (chip reading part). The shape and func-
tion of the cane and rod aids for the blind are similar, with the
cane body serving as the primary component to connect corre-
sponding sensing equipment to aid the visually impaired in their
travels [15].
Within the corpus of collected articles, the earliest inquiry into
the realm of stick-related research dates back to 2014 with the
publication of the Location Guide DV [94]. This work employs
RFID technology to enable users to locate themselves. In addition,
Figure 5. Statistical chart of the classification of guide aids.
A SURVEY AND ANALYSIS OF NAVIGATION FOR THE BLIND 5
studies have investigated the incorporation of Geomagnetic sen-
sors into the sticks to facilitate navigation [95], as well as the
inclusion of sensors, such as ultrasonic waves, to provide guid-
ance for obstacle avoidance [96–98]. In 2019, Nav Cane electronic
aids were introduced [99], which were found to possess superior
navigation capabilities compared to traditional white canes.
Furthermore, certain scholars have pursued real-time video
processing through cloud video API to effectuate object detection
and obstacle avoidance while on the road [100].
In the research with white cane as the research content, the
first thing that appears is to guide BVIP to travel on the naviga-
tional path by using RFID technology [101–105]. Furthermore,
additional sensors have been added to the white cane to enhance
its functionality, allowing for obstacle avoidance [106–113].
Table 1. Introduction to various types of assistive devices.
Type Introduction Specific studies Advantages Disadvantages
Navigation glasses for
the blind
A guide detection device that
transmits ultrasonic waves
and then receives them
through an integrated
circuit on the eyeglass
frame and eyeglass lenses
for obstacle determination
and distance measurement
Smart glasses system based on
vision and haptics [39]
Bionic glasses [40,41]
3D glasses [42]
Intelligent navigation glasses
[43–46]
Smart glasses using deep
learning and stereo cameras
[47]
Commercial Goggle Systems [48]
Assistive navigation glasses based
on vision and auditory [49]
Assistive smart glasses based on
vision API [50]
All electronic circuits are
integrated
Small size, good
performance, and quick
response.
Process is prone to failure
Material and control
mechanism is not sound
Prone to some hazards in the
process of user use.
Navigation helmet for
the blind
In the form of a helmet, it
provides face recognition,
object recognition, path
planning, and obstacle
avoidance for BVIP using
IoT technology.
Small Embedded Interactive
System [51]
Head-mounted electronic eye
device [52]
Smart Cap [53]
Equipment designed as a hat [54]
Haptic feedback of the rap head
system [55]
GSM Innovative helmet
system [56]
Closer to the eyes, more
convenient to perceive
the surrounding
information
The degree of portability
directly affects the user’s
comfort;
Wearing is not convenient
and neat, affecting the
overall dress
Navigation shoes for the
blind
Guiding devices worn on the
foot, mostly using
ultrasonic and infrared
sensors for obstacle
avoidance detection
Identify obstacles with
microcontroller [57]
Tactile display mounted in the
foot [58]
Less binding;
Contains the functions of
ordinary shoes.
Not long use cycle;
The degree of lightness
directly affects the comfort
of the user, and the long-
term business value and
user experience is not high.
Navigation gloves for
the blind
Hand-worn guide devices Feedback gloves based on skin
touch [59]
Detect and avoid obstacles [60]
RFID-based auxiliary gloves [61]
Portable It binds the hands and affects
daily behavior.
Navigation bracelet for
the blind
Hand-worn guide devices Arduino bracelet with integrated
vibration motor [62]
Smart bracelet [63]
Vibro-Tactile Ring [64]
Portable Single function
Other Other wearable guide devices Navigation Backpacks for the
blind [65]
Finger tactile vibration ring [64]
Ultrasonic Assisted Headset [66]
Assistive device type not declared
[67–91]
L0
L The length of the blind cane L0 A wide band with red stripes
L
t
Length of blind cane body D Diameter of the cane body
Cane p Cane body DHandle Wristband
L
t
/3
L
t
L
Figure 6. Schematic diagram of the structure of the blind cane.
6 L. YUE ET AL.
Mobile phones have also been integrated with the white cane to
enable navigation and obstacle avoidance [114–119]. Additionally,
the use of vision sensors and computationally capable equipment
has facilitated object detection and subsequent obstacle avoid-
ance [120–127]. Other advanced technologies, such as the
Internet of Things [128–130], echo location [131], and virtual real-
ity [132] have also been utilized to assist with navigation and obs-
tacle avoidance for BVIP.
Mobile aids
Mobile assistive devices for the blind are classified as devices that
can move autonomously, such as guide robots, guide cars, and
electronic guide dogs, which can guide BVIP forward and commu-
nicate with them. After analyzing the articles, it can be observed
that guided robots and guided vehicles are the two primary cate-
gories identified. In particular, Kee et al. [133] have devised an
autonomous robot based on PIC technology that can aid visually
impaired individuals in avoiding obstacles through vocal instruc-
tions. Additionally, a novel social mobile robot has been proposed
in another article [134] that enables visually impaired individuals
to move more effortlessly, thanks to its humanized design. Finally,
the use of a fuzzy controller has been explored by the authors of
yet another article to mitigate steering angle errors and improve
the guidance accuracy of the robot [135]. Researchers affixed
CMOS image sensors onto a robot equipped with wheels, which
utilized the sensors to detect markings on the road and provide
guidance to individuals with visual impairments [136]. Bao et al.
[137] proposed two ways to guide BVIP to its destination by com-
bining GPS navigation and local pedestrian lane tracking with
coarse and fine grained navigation, respectively. Megalingam
et al. [138] introduced an intelligent and efficient path-guiding
robot that can replace guide dogs to help BVIP outdoor travel.
Finally, Ming et al. [139] developed a four-wheeled robot
equipped with a deep learning-based navigation system, specific-
ally utilizing Faster RCNN, which has demonstrated promising
results in practical application.
In the realm of safe navigation techniques for the visually
impaired, various guided vehicle type aids have been developed
by scholars. Specifically, Kammath et al.’s design of a smart elec-
tric vehicle is equipped with the ability to comply with traffic sig-
nals [140]. In addition, Hosseini et al.’s proposal of a guided
bicycle [141], and Jim
enez et al.’s motion device with a controller
[142], All of these aids serve to facilitate BVIP travel by providing
guidance through the use of technology.
Others
In addition to the above types of assistive devices for the blind,
there are others in the form of instruments, such as navigators
[143–147], obstacle avoidance devices [148], detectors [149], etc.
In the collated articles, seven of the reviewed articles [28,150–155]
did not explicitly specify the type of assistive technology that was
evaluated. It is worth noting that the device analyzed in article
[155] has a relatively light weight, which could be addressed by
implementing integration into a microchip, thereby reducing the
device’s size, weight, and cost.
Analysis of results
According to the data analysis above and as shown in Table 2
and Figure 5, it is evident that BVIP exhibits a strong inclination
towards guide aids that are characterized by their lightweight
construction, portability, precision, and longevity.
Numerous types of guide systems and aids possess diverse
functionalities that offer BVIP with efficacious navigation informa-
tion. Nonetheless, their widespread and efficacious application for
BVIP travel remains hindered by certain limitations. For instance,
some devices are bulky and expensive, while others offer only a
single function. Inadequate detection precision, low recognition
rates, and substandard positioning outcomes further impede the
devices’ usability. At the same time, insufficient user feedback on
the matter has led to suboptimal usability, indicating a lack of
systematic evaluation. For such groups as BVIP, how to make
them travel outdoors like normal people is a problem that rele-
vant researchers need to consider.
Based on temporal evidence, the investigation into supporting
equipment has progressed from RFID positioning, ultrasonic dis-
tance measurement, to object detection and identification, remote
control, and other related functions. This gradual expansion has
enabled the realization of multifaceted features, which more
effectively cater to the demands of users engaging in outdoor
excursions while also ensuring the safety of BVIP outdoor travel.
Sources and types of environmental information data for blind
navigation
Data analysis
In any navigation system or device for the blind, different types
of sensors are needed to sense environmental changes, and cue
the BVIP to the destination by planning the traveling path. These
types of sensors include infrared sensors, vision sensors, ultrasonic
sensors, and other types; thus, the following types of data can be
acquired: ultrasonic data, point cloud data, infrared data, RGB,
RGBD data, and RFID tag data. The specific statistics are shown in
the following bar statistics (Figure 7).
Ultrasonic data is obtained by carrying ultrasonic sensors on
the assistive devices for the blind. The sensor determines the dis-
tance of an obstacle in its path by measuring the time interval
between the transmission of an ultrasonic signal and the recep-
tion of the signal’s reflection upon encountering the obstacle.
This process enables BVIP to avoid obstacles and safely reach its
Table 2. Comparison of advantages and disadvantages of different types of assistive devices.
Type Advantages Disadvantages
Wearable devices Hands free
Multi-functional
Rich in expressing information
High restraint
Larger volume
Higher quality
User comfort is not strong
Handheld assistive devices Lightweight and easy to carry the price is acceptable
Wide used
Relatively simple function
Research and development are limited by quality and other aspects
Obstacle avoidance effect is not strong
Mobile category No user burden of weight
Safer travel
Support the infirm
Higher construction cost
Difficult to use in complex terrain
A SURVEY AND ANALYSIS OF NAVIGATION FOR THE BLIND 7
destination. However, the ultrasonic data cannot detect the exact
location of the obstacles and identify the type of obstacle. In
2007, the author utilized three pairs of ultrasonic sensors to iden-
tify obstacles, the sensors transmitted the obstacle data to a
microprocessor, which analyzed the data and generated sound
signals to alert the user [68]. Other researchers have also
employed ultrasonic sensors to detect obstacles and avoid them
[45,66,96–98,108,112,115,117,122,128,143,144,146]. Muneshwara
et al. [54] detected the obstacle’s position using ultrasonic signals.
Aarthi et al. [56] created a cueing device using ultrasonic sensors
and GSM to identify obstacles, but they did not verify the accur-
acy of obstacle detection.
The acquisition of infrared data is facilitated by the use of an
infrared sensor. The sensor operates by emitting signals and
receiving reflected signals upon encountering obstructions,
thereby acquiring pertinent information about the environment
being sensed. Scholars have proposed approaches for avoiding
obstacles through the installation of two infrared sensors on
robots [133]. Furthermore, Dhod et al. [109] have introduced a
novel technique that incorporates two infrared sensors with vary-
ing reference positions on assistive devices, enabling the detec-
tion of obstacles at different positions and enhancing the
precision of detection.
RFID is used to identify the pre-installed electronic tags
through radio waves with a read-write to carry out the transmis-
sion of data, thus guiding the BVIP to travel safely. A data man-
agement system is needed to manage this tag data and thus
provide BVIP with accurate road information. In several academic
papers [72,94,99,103,105,114,156], the authors suggest attaching
electronic RFID tags to guide tiles or affixing them to building
paths as a means of assisting visually impaired pedestrians in nav-
igating safely on blind paths. Subsequently, researchers have pro-
posed combining cell phone inertial navigation with RFID
technology to enable accurate positioning, path planning, and
navigation [78]. In addition, RFID technology has also been used
to correct errors in GPS positioning [101,104] as a complement to
navigation landmark marking [107].
The optical and imaging devices in vision sensors, namely cam-
eras, are utilized to gather external environmental image informa-
tion in the form of RGB and RGBD data. This data aids in
obtaining a more precise representation of obstacle categories by
way of figurative objects. At this stage, vision sensors are divided
into monocular, binocular, trinocular, and circumferential cameras
by the number of lenses, which are important components of
computer vision. This type of data source is mostly used to deter-
mine the obstacle information in certain direction through rele-
vant object detection algorithms and models. For example, In the
initial investigation conducted in 2005, Vel
azquez et al. [39]
affixed two miniature cameras onto the glasses’ frame to identify
Figure 7. Classification of navigation aids based on different environmental information data sources.
Table 3. Navigation aids in the navigation environment information multi-
source data statistics.
Time/data
type
Article
reference RGB Ultrasonic RFID Infrared
Point
cloud RGBD
2001 [91] � �
2003 [157] � �
2005 [141] � �
2009 [150] � �
2012 [102] � �
2013 [158] � �
[140] � � � �
2014 [73] � �
[159] � �
[121] � �
2015 [74] � �
2016 [82] � �
[131] � �
[43] � �
[123] � �
2017 [118] � �
[152] � �
2018 [160] � �
2019 [154] � �
[138] � �
2020 [60] � �
[153] � �
[126] � �
[57] � �
[129] � �
2021 [155] � �
[46] � �
8 L. YUE ET AL.
obstructions in the path of the walking process, the captured
data was then utilized to establish the obstacle’s location in the
scene and transfer it to the map, subsequently, a computational
device processed the gathered information, which was then con-
veyed to the BVIP through either a tactile or auditory mode. Son
et al. [48] presented a straightforward network that can detect
crosswalks in real-time to address the issue of BVIP passing
through crosswalks. Their approach yielded a detection rate of
91% on a set of 10 video sequences, with a training set compris-
ing 12,450 images and a test set containing 791 images.
Furthermore, the authors employed RGBD sensors to estimate the
distance of obstacles from the downgrade, thereby aiding BVIP in
obstacle avoidance [79,127]. In article [79], the authors propose a
method which aimed at enhancing the precision of object detec-
tion. The approach involved initially excluding the detected
ground area from the depth data, subsequently, the object’s con-
tour was obtained, and finally, the detection box was merged
with the contour to achieve the desired outcome.
Point cloud data refers to data acquired by emitting laser light
onto an object through the use of LIDAR or 3D laser scanning
equipment, followed by processing of the resulting reflections.
Within this field, Kaiser et al. [69] utilized an inertial measurement
unit (IMU) and a laser scanner to obtain sensor data for
Simultaneous Localization and Mapping (SLAM), thereby con-
structing an environmental map and selecting a safe and efficient
route for destination navigation. In a similar vein, Bai et al. [79]
relied on LIDAR measurements to determine the distance of
objects.
In the published related papers, most of the navigation devices
are designed using multiple sensors for combined use, as outlined
in Table 3. The acquired information is from various sources, with
RGB and ultrasonic sensors being the most commonly used,
whereas the RGBD sensor category is the least frequently used.
This outcome is similar to that of navigation devices that solely
rely on single-source environmental information.
Results analysis
According to the survey data (Figure 7), the largest number of
guiding aids in the relevant studies used ultrasound to obtain
data, and the smallest number used depth vision sensors to
obtain information. The specific information about the sources
and types of environmental information data for blind navigation
is shown in Table 4 below, and the similarities and differences
between these data sources are described in detail.
According to the analysis, it can be seen that the use of ultra-
sonic type data sources to help navigate BVIP is the most fre-
quent aids compared to other types, accounting for 24.19%.
However, ultrasonic sensors were the first to appear and the
accuracy of their data is vulnerable to noise. The duration
required for the development of data sources, such as infrared
and RFID is more consistent. However, the application of RFID
technology due to its suboptimal positioning accuracy and high
installation cost, which restricts its widespread usage. On the
other hand, the environment required by infrared sensors is not
suitable for BVIP travel, especially outdoor activities, resulting in
fewer outdoor related studies. The number of studies involving
point cloud and RGBD data are equally consistent, with point
cloud data exhibiting superior positioning accuracy. However, the
cost of obtaining point cloud data is relatively high, exceeding
the budget of most BVIP groups, which leads to a dearth of rele-
vant studies. However, it is reasonable to believe that with the
social and economic development, the living standard of the
majority of people continues to improve, related research will
become abundant. In the field of visual data processing, it is note-
worthy that while RGB sensors are relatively cheaper than RGBD
sensors, they lack the ability to capture depth information, which
indicates the distance between the camera and objects.
Nevertheless, the processing technologies associated with RGB
sensors have undergone significant development, particularly in
the case of monocular cameras. These cameras are capable of
estimating distance information through the application of the
Table 4. Comparison between different data sources.
Data type Ultrasound RGB Point-cloud RGBD Infrared RFID
Data sources Ultrasonic sensors Vision Sensors LIDAR, binocular
camera, 3D
scanner
Depth of vision
sensors
Infrared sensors Labels
Starting time The definition of
ultrasound was
first proposed in
1922
The proposal of
deep learning in
2006
1990s Kinect-v1 was first
announced in
2009
The first infrared
sensors appeared
in the 1940s
RFID theory was
born in 1940–
1950
Data form Ultrasonic signals Three-channel image Lasers Four-channel image infrared Radio waves
Positioning accuracy 0.5 m 0.1–0.5 m Centimeter level 0.1–0.5 m 0.5–1 m 1–10 m
Function Detect the distance
and azimuth of
the obstacle from
the sensor, and
calculate the
speed of the user
forward
Detect and identify
obstacles
Distance
measurement,
positioning,
obstacle detection
Detect and identify
obstacles and
calculate the
distance between
obstacles and
users
Temperature
measurement,
distance
measurement,
obstacle
avoidance
Identification, target
tracking, and data
acquisition
Advantages High frequency, short
wavelength, small
diffraction
phenomenon,
good directionality
The price is
moderate and the
technology is
mature
High precision, small
size, wide
measurement
range, good
robustness
Distance
measurement,
positioning
Low cost, operating
under normal
temperature
Strong penetration,
fast scanning, and
recognition,
durable, small size
Disadvantages Trigonometric errors
exist and are
susceptible to
noise
Cannot obtain 3D
information,
affected by
ambient light and
weather
high cost Large amount of
data, use
environment is
limited, the price
is higher than
RGB camera
Cannot be used in
sunlight or dark
rooms, low
sensitivity and
slow response
High cost,
unresolved
privacy issues,
inconsistent
frequency, use
environment
requirements
A SURVEY AND ANALYSIS OF NAVIGATION FOR THE BLIND 9
small-aperture imaging principle, the PNP method, or the similar
triangle method. Similarly, multilocular cameras can estimate
object distance from the lens using the binocular stereo parallax
principle. The utilization of RGBD-type sensors imposes high
requirements on the operational apparatus for data processing.
While RGB and ultrasonic data sources are the most frequently
used sources of information in navigation environments, com-
puter vision research may surpass research on ultrasonic data
sources, indicating its potential as the next focal point in this
area. In the domain of computer vision, there exists a limitation
with respect to the precision and detection efficacy of the detec-
tion algorithm. Additionally, the efficacy and speed of processing
the data captured from the vision sensor are influenced by the
configuration of the computing equipment. The size and weight
of the high-performance computing equipment is, therefore, a
crucial factor affecting the acceptance of Blind Vision-based assist-
ive devices.
Research on algorithmic aspects of blind navigation
Data analysis
In the domain of navigation for visually impaired individuals,
researchers have suggested a range of algorithms, including those
which improved with existing algorithms. These algorithms per-
tain to various stages of navigation, such as localization, obstacle
avoidance, recognition detection, and path planning. In our
statistical survey, Table 5 reveals that 20% of the articles collected
were published in Chinese journals, while the remaining 10%
were published in journals from other countries.
Result analysis
Table 5 demonstrates that navigation for the blind has given rise
to a range of algorithmic developments. In contrast to other
nations, Chinese researchers are focused on improved pre-existing
algorithms in the field of guidance to augment their precision
and efficacy. Compared with the proposed new algorithms, the
improved algorithms exhibit a greater level of accuracy in detec-
tion. Conversely, the new algorithms offer innovative ideas for
research but may compromise accuracy and have an imperfect
structural system in comparison to existing algorithms. It is note-
worthy that object detection algorithms are extensively utilized in
the navigation system process for the blind, which is an integral
aspect of computer vision technology. This indicates that com-
puter vision technology has emerged as a predominant technol-
ogy in the domain of navigation for the visually impaired.
Optimization of navigation methods for the blind
Data analysis
In the field of navigation for the blind, researchers use a variety
of methods to broaden navigation to help BVIP travel better and
more safely. Meanwhile, with the development of technology,
Table 5. Introduction to the guide algorithm.
Function Corresponding algorithms Overview
Location Synchronous positioning and mapping algorithm [161]
A computer vision algorithm for verifying the positioning
ability of blind guide prototype [162]
BVIP has high requirements for positioning accuracy and real-
time, and the traditional positioning methods cannot meet
the requirements; it needs to provide newer, more
accurate, and faster positioning methods.
Identification detection Cellular automata model [163]
A new algorithm for sidewalk detection [164]
Recognition and detection algorithm based on combination of
three algorithms [165]
Detection algorithm based on depth and gray image
attributes [166]
Detection algorithm based on MATLAB and Python [151]
Based on path and obstacle extraction and detection
algorithm [167]
Particle filter algorithm for estimating the direction and
position of obstacle free ground
Based on the stereo matching algorithm of image convolution
transformation, the recognition and processing algorithm of
specular reflection area is proposed [168]
Obstacle recognition algorithm based on outdoor blind
navigation sonar [169]
A new perceptual substitution algorithm [170]
Recognition and detection use computer vision and deep
learning methods to help BVIP perceive the surrounding
information (e.g., Crosswalks, blind roads, and
intersections).
Obstacle avoidance Collision detection algorithm based on parallax image [171]
collision detection algorithm based on stereo vision [172]
The problem of obstacle avoidance is inevitable for BVIP in
travel, and high-quality research on aspects, such as
positioning and target detection makes it possible to
achieve more effective, faster, and more accurate obstacle
avoidance.
Route Planning trajectory simplification algorithm [173]
based on Internet of Things technology [174]
Particle Swarm Optimization (PSO) algorithm [175]
A fast robot path planning algorithm based on bidirectional
associative learning [176]
Based on the scene map, path planning needs to reasonably
plan a road between the destination and BVIP through
high-precision positioning and target detection, and
complete guidance through listening, touching, and other
sensory methods.
Other scene matching algorithm [177,178]
An algorithm for extracting Head Related Impulse Responses
data [179]
Global stereo matching algorithm based on second-order prior
assumption and Census semi global stereo matching
algorithm based on cross aggregation [180]
Outdoor GPS Navigation Algorithm for BVI [181]
Image deblurring algorithm [182,183]
Integrated navigation algorithm [184]
SIFT algorithm based on local feature point matching [185]
In this field, it is also necessary to consider the quality of the
images in terms of computer vision, the problem of
obtaining the corresponding information, etc., all of which
are worth noting when guiding BVIP travel.
10 L. YUE ET AL.
more effective methods are also being introduced. In this condi-
tion, Chinese article accounts for 5% of the articles in our collec-
tion of statistics, and other countries account for 13% of the
relevant article, as shown in Table 6 of the survey.
Analysis of results
The emergence of optimized methods for navigation for the
blind is marked by the advancement of technology and the con-
tinuous development of technology. Among the methods listed in
Table 6, computer vision is mostly used for information acquisi-
tion to help BVIP.
Navigation maps for the blind
Data analysis
For BVIP, it is particularly difficult to obtain information and spa-
tial relationships of the surrounding area when traveling outdoors.
In this stage, few researches on electronic maps for the blind
[212]. The production and use of navigation maps for the blind
consider more auditory and tactile approaches. Tactile maps
mostly refer to raised maps made with special materials for tactile
perception of BVIP. In contrast, auditory maps mostly use speech
conversion and electronic maps, and other related technologies
for blind navigation. Guided electronic maps intended for the
visually impaired are commonly accessed through assistive tech-
nologies and screen readers on mobile devices [213].
In the collected article, there are few studies on navigation
maps for the blind. The article [214], published in 2001, presented
a classification of tactile maps along with an overview of the lat-
est research findings in this field. Subsequently, in 2010, a virtual
tactile map was introduced, which relied on the use of a Force
Display device for rendering [215]. In a subsequent study, Buzzi
et al. [213] approached the topic of map-based applications from
the standpoint of BVIP and discussed the relevance of interactive
devices in addressing accessibility issues for visually impaired indi-
viduals. Their aim was to develop visual maps that could be
“seen” by individuals with visual impairments, thus providing a
valuable reference point for future development in this area. Fu
Zhong liang et al. conducted a study [212] that examined the use
of geospatial cognition to develop electronic maps for the visually
impaired, which offer substantial assistive support for blind navi-
gation. The article [216] describes a design process for a tactile
map to support the OM (orientation and mobility) course at the
PIC (Paran
a Institute of the Blind) by developing a symbol-based
code system to distinguish buildings. In contrast, Hamid et al.
[217] utilized landmarks instead of sound cues in their study and
conducted a survey to identify suitable sounds for each landmark,
which were then incorporated into an auditory-tactile map.
Analysis of results
Within our compilation of statistical articles, there exists a paucity
of research on navigation maps within the domain of blind navi-
gation. Specifically, an examination of our collection reveals that a
Table 6. Introduction to the optimization of navigation methods for the blind.
Function Method Overview
Location A seamless mobile phone fusion positioning method [186]
A top-down design method [187]
Multi-sensor fusion location based on relative entropy Kalman
filter [188]
Based on the high requirements of positioning accuracy and
real-time performance, more accurate and faster
positioning methods need to be updated.
Target detection and tracking A new method for crosswalk detection [189]
The method of pedestrian marking detection in road
intersection [190]
A method for real-time detection of obstacle free path
[191,192]
Computer vision method for environment perception [193]
Analysis the influence degree of edge and depth information
of pavement detection [194]
Navigation method based on deep learning [195]
Segmentation based stereo vision method [196]
Use computer vision methods to help BVIP perceive
environmental information (e.g., crosswalks, blind roads,
and intersections).
Obstacle avoidance A method of virtual semicircle based on position
movement [197]
How to achieve more effective, fast, and accurate obstacle
avoidance is one of the research focuses in the future
development of the field of blind guidance.
path planning A navigation method for mobile robot based on sensing
unknown environment [198]
Collision avoidance path navigation for blind people based on
depth learning [199]
On the basis of scene map, path planning needs to guide a
reasonably planned road between the destination and BVIP
by means of hearing, touching, and other senses through
high-precision positioning and target detection.
Other A method of extracting high quality frames [200]
Image deblurring [183]
A tactile rendering method based on a series of studies to
help the interface display better [201]
A comprehensive VIP auxiliary technology method based on
statistics [202]
Assisting navigation based on geomagnetic field effect [203]
A method for prompting blind people to move based on
acoustic camera data [204]
A real time map construction method based on stereo
algorithm and visual mileage measurement [205]
Three different sonification techniques in target rotation [206]
Reduce the training cost of the model [207]
A method for rough topographic mapping [208]
Outdoor navigation method based on vision [209]
A new navigation method [210]
A method of translating hand drawn map into tactile map
automatically [211]
In addition to the proposed methods for localization, target
detection and tracking, and obstacle avoidance, other
aspects are proposed.
A SURVEY AND ANALYSIS OF NAVIGATION FOR THE BLIND 11
mere 2% of the articles are of Chinese origin, while related articles
from other countries account for only 3% of the total corpus. This
discrepancy in representation highlights the insufficiency of schol-
arly attention given to the topic at hand. Due to the small
amount of article collected, it is not possible to make a general-
ization. As far as the data collected on the maps for the blind are
concerned, due to the lack of vision of BVIP, they can only use
auditory and tactile senses to “see” the map and understand the
surrounding environment. The auditory map is an interactive
device that allows BVIP to navigate through a mental map by
prompting various sounds to let BVIP receive the Adjacent land-
marks and to achieve the purpose of travel navigation. Tactile
maps, on the other hand, are cumbersome to produce and not
very practical, so they mostly use a combination of auditory and
tactile means to achieve the effect of guiding blind people on
their travels through the integration of devices.
Discussion
The statistical results show that there are more studies on this
aspect of guiding aids and devices within the field of navigation
for the blind, accounting for 68% of the total collected article.
Among these, with the number of wearable devices being rela-
tively high, followed by handheld type aids. Although there are a
variety of wearable aids, they are unattractive, large, and heavy
compared to handheld type electronic guide canes, and have not
been widely used in BVIP. More research has been done on hand-
held aids because they were developed early and used for a long
time. With the development of time, guide aids have achieved
from single function to composite function. With the continuous
advancement of technology and the steady improvement of peo-
ple’s living standards, society is constantly evolving. To expand
customer retention and increase the freedom and enjoyment of
BVIP during outdoor travel, guide aids should become more light-
weight and cost-effective. This will enable BVIP to carry out their
daily tasks without constraints and improve their quality of life.
According to the survey, computer vision technology occupies
its important place in the research of assistive devices, data sour-
ces, guidance algorithms, and related methods. The development
of vision sensors in the field related to navigation for the blind
has greatly improved the current situation on BVIP’s travel. At the
same time, in the face of more complex navigating environmental
information, it means that the processing of vision sensor data is
also facing an important challenge. In the realm of computer
vision, both object detection and tracking necessitate a certain
level of detection accuracy and real-time performance. Despite
these requirements, erroneous detection and omission are still
prevalent, which poses a significant threat to the safety of BVIP
outdoor travelers. In addition, the visual data processing equip-
ment needs to meet the requirements of high performance and
light weight, which can meet the requirements of easy portability
and high availability of BVIP outdoor travel. Furthermore, the
issue of excessive illumination renders the vision sensor ineffect-
ive in daylight conditions, whereas passive vision sensors utilized
for nocturnal navigation fail to acquire pertinent object data, lead-
ing to challenges in object identification. How to carry out real-
time blind navigation 24 h a day will be one of the important
topics in the future.
Therefore, it is an arduous task for researchers to investigate
and develop guiding aids that are economical, efficient, and light-
weight, aimed at aiding BVIP to navigate and participate in their
daily lives like their sighted counterparts. This undertaking
necessitates a significant amount of dedication and diligence
from researchers.
Limitations of the research
This study provides an examination and assessment of the pre-
sent state of outdoor navigation technology for individuals with
visual impairments, while also predicting future research direc-
tions in this domain. Consequently, the paper is segmented into
five sections, namely system equipment, data sources, guidance
algorithms, optimization of related methods, and navigation map
for the blind.
To maintain the focus and specificity of our study, we exclu-
sively gathered literature on outdoor navigation for blind and
refrained from examining indoor blind navigation for our investi-
gation and analysis. Additionally, our inquiry solely evaluated the
interrelationship between blind navigation techniques and did
not furnish any statistical data regarding the implementation of
these technological products. Although the researchers tested
their research on the user side and used data to demonstrate the
feasibility of their research, there was no comprehensive evalu-
ation of these various guide products for the blind and related
research from the user’s perspective. Therefore, it is imperative to
carry out research in the living environment of BVIP and to
employ questionnaires as a means of statistical analysis to obtain
user feedback concerning these products.
In addition, it should be noted that the statistical analysis was
based on a limited sample of eight journal databases, and there-
fore, the number of articles reviewed may not be representative
of the entire corpus of literature on the subject matter.
Conclusion
This systematic review involved an exhaustive examination of vari-
ous data sources until 2021, resulting in the identification of 227
pertinent articles. From this pool, 179 articles were scrutinized to
provide a concise overview of five key areas, namely system
equipment, data sources, guidance algorithms, optimization of
related techniques, and navigation maps for the visually impaired.
The findings indicate that the predominant focus of scholars
centers on the design and creation of guiding aids and devices,
comprising the largest proportion (68%) of the reviewed litera-
ture. Among these, wearable aids exhibit relatively higher utiliza-
tion, albeit not extensively implemented. Subsequently, handheld
aids emerge as the second most prevalent type of assistive devi-
ces studied. The trend towards utilizing vision sensors as the pri-
mary data source for navigation environment information is
increasing. However, this approach is hindered by computer per-
formance limitations, which require further enhancements to
ensure real-time performance and accuracy of the surrounding
environment. Furthermore, due to the intricacy of navigation map
production, there has been limited research on updating the geo-
graphical area involved in the map in real-time.
According to the findings, scholars ought to evaluate the con-
temporary state, merits and demerits, and advancements of per-
tinent technologies through the lens of end-users, to develop an
assistive instrument that can effectively fulfill the outdoor naviga-
tion requirements of visually impaired individuals and further
enhance their quality of life.
Computer vision will be a key breakthrough in the future
development of navigation for the blind.
12 L. YUE ET AL.
Disclosure statement
No potential conflict of interest was reported by the author(s).
Funding
This work was supported by the Natural Science Foundation of
Jiangxi Province: Dynamic Object Detection and Behavior
Perception for Blind Navigation Based on RGB-D Video Stream
(S2020ZRMSB0257) and National Natural Science Foundation of
China: Research on Real-time Geographic Scene Data Model of
OutdoorNavigation for Blind People Supported by Global Path
(42271434).
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