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Navigation assistance is critical for blind and visually impaired (BVI) individuals. However, effective solutions remain underdeveloped due to limited research attention. This gap originates from two fundamental constraints: (1) GPS-based positioning lacks sufficient precision in indoor environments. (2) Navigation approaches oversimplify BVI users as sensor-driven robots. We argue that existing methods fail to address real-world navigation complexities since BVI individuals have more specific navigation needs indoors. Moreover, data-collecting devices commonly used in robotic systems, such as LiDAR and depth cameras, are not easily available to them. Consequently, there is an absence of effective and user-friendly indoor navigation systems for BVI users. To address this, we propose PhoneGuide-SLAM: a smartphone-based navigation method that leverages visual simultaneous localization and mapping (SLAM), purely adopting a stereo camera as a sensor. The navigation system can provide real-time positioning, dynamic obstacle avoidance, and incremental path planning, guiding users to reach desired destinations along straight and accessible walking paths. Extensive experiments demonstrate the effectiveness of our system, showcasing its ability to enhance the independent mobility of BVI people.

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PhoneGuide-SLAM: Low-Cost Smartphone Navigation for the Visually Impaired Using Visual Semantic SLAM

  • 会议论文

  • 发表日期：

    2026年

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  • Meiheng Wang,
  • Di Wu,
  • Chengqun Song,
  • Jun Cheng

摘要

Navigation assistance is critical for blind and visually impaired (BVI) individuals. However, effective solutions remain underdeveloped due to limited research attention. This gap originates from two fundamental constraints: (1) GPS-based positioning lacks sufficient precision in indoor environments. (2) Navigation approaches oversimplify BVI users as sensor-driven robots. We argue that existing methods fail to address real-world navigation complexities since BVI individuals have more specific navigation needs indoors. Moreover, data-collecting devices commonly used in robotic systems, such as LiDAR and depth cameras, are not easily available to them. Consequently, there is an absence of effective and user-friendly indoor navigation systems for BVI users. To address this, we propose PhoneGuide-SLAM: a smartphone-based navigation method that leverages visual simultaneous localization and mapping (SLAM), purely adopting a stereo camera as a sensor. The navigation system can provide real-time positioning, dynamic obstacle avoidance, and incremental path planning, guiding users to reach desired destinations along straight and accessible walking paths. Extensive experiments demonstrate the effectiveness of our system, showcasing its ability to enhance the independent mobility of BVI people.