“…Although widespread solutions are still not a reality indoors, there are several eforts to support indoor localization and blind navigation assistance [17,57]. There is an increasing tendency for approaches where users do not require any hardware besides their own devices, for instance by making use of smartphone sensors [16,21]. In addition, camera-based approaches can use the user's (or a specialized) device to guide them to a particular target [4,18,41] or to detect and avoid obstacles [19,39,49,62,66].…”