Abstract:This paper presents an ego-motion tracking method using visual-inertial sensors to assist the visually impaired and blind (VIB) people to travel in unknown dynamic environments. We focus on the ego-motion tracking functionality to inform the wearers of their relative position with respect to the environment. A traveled trajectory is recovered by concatenating the transformation estimated from visual correspondences and instantaneous movements captured by inertial sensors. Therefore, we introduce an adaptive me… Show more
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