Some interesting works about navigation assistance for the visually impaired using vision and other sensors such as GPS can be found in the literature [11, 12]. In [11] map-based prior for localization is proposed as an useful help for a system based on GPS to localize blind people in urban environments, whereas Saez et al. presented in [12] a 6DoF stereo visual SLAM for the visually impaired. In their work, egomotion estimation is done by a point matching algorithm integrating 3D and 2D information. Mapping is done through a randomized global entropy minimization algorithm, considering othogonal scenarios, with difficult extension to non-orthogonal environments. In addition, the last system does not fulfil real-time constraints.
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