Intelligent Guide Robots for People who are Blind or have Low Vision: A Review

Ackerman, E., 2021. Available at: https://spectrum.ieee.org/tencents-new-wheeled-robot-flicks-its-tail-to-do-backflips [Accessed 15 June 2021]. Ackerman E. , 2021 . Available at: https://spectrum.ieee.org/tencents-new-wheeled-robot-flicks-its-tail-to-do-backflips [Accessed 15 June 2021] . Search in Google Scholar

Adagale, V. & Mahajan, S., 2015. Robot Guide System for Blind People Using GPS and GSM. International Journal of Electrical and Electronic Engineering & Telecommunications, 4(2), pp. 16-21. Adagale V. & Mahajan S. , 2015 . Robot Guide System for Blind People Using GPS and GSM . International Journal of Electrical and Electronic Engineering & Telecommunications , 4 ( 2 ), pp. 16 - 21 . Search in Google Scholar

Antoun, S. M. & McKerrow, P. J., 2010. Mimicking a blind person navigating a corridor using a K-Sonar with a mobile robot. s.l., In Proceedings of the 3rd International Symposium on Practical Cognitive Agents and Robots, pp. 1-8. Antoun S. M. & McKerrow P. J. , 2010 . Mimicking a blind person navigating a corridor using a K-Sonar with a mobile robot. s.l. , In Proceedings of the 3rd International Symposium on Practical Cognitive Agents and Robots , pp. 1 - 8 . 10.1145/1967112.1967113 Search in Google Scholar

Anybotics, 2022. anybotics.com. Available at: https://www.anybotics.com/anymal-autonomous-legged-robot/ [Accessed 02 January 2022]. Anybotics , 2022 . anybotics.com . Available at: https://www.anybotics.com/anymal-autonomous-legged-robot/ [Accessed 02 January 2022] . Search in Google Scholar

Barra, J. et al., 2019. Localization system in GPS-denied environments using radar and IMU measurements: application to a smart white cane. Napoli, Italy, 18th European Control Conference (ECC). Barra J. et al., 2019 . Localization system in GPS-denied environments using radar and IMU measurements: application to a smart white cane . Napoli, Italy , 18th European Control Conference (ECC) . 10.23919/ECC.2019.8795887 Search in Google Scholar

Boston Dynamics, W., 2021. Boston Dynamics. Available at: https://www.bostondynamics.com/products/spot [Accessed 28 December 2021]. Boston Dynamics W. , 2021 . Boston Dynamics . Available at: https://www.bostondynamics.com/products/spot [Accessed 28 December 2021]. Search in Google Scholar

Bruno, D. R., De Assis, M. H. & Osório, F. S., 2019. Development of a Mobile Robot: Robotic Guide Dog for Aid of Visual Disabilities in Urban Environments. Rio Grande, Brazil, 2019 Latin American Robotics Symposium (LARS), 2019 Brazilian Symposium on Robotics (SBR) and 2019 Workshop on Robotics in Education (WRE), pp. 104-108. Bruno D. R. , De Assis M. H. & Osório F. S. , 2019 . Development of a Mobile Robot: Robotic Guide Dog for Aid of Visual Disabilities in Urban Environments . Rio Grande, Brazil , 2019 Latin American Robotics Symposium (LARS), 2019 Brazilian Symposium on Robotics (SBR) and 2019 Workshop on Robotics in Education (WRE) , pp. 104 - 108 . 10.1109/LARS-SBR-WRE48964.2019.00026 Search in Google Scholar

Capi, G. & Toda, H., 2011. A new robotic system to assist visually impaired people. Atlanta, USA, 2011 RO-MAN, pp. 259-263. Capi G. & Toda H. , 2011 . A new robotic system to assist visually impaired people . Atlanta, USA , 2011 RO-MAN, pp. 259 - 263 . 10.1109/ROMAN.2011.6005259 Search in Google Scholar

Cardillo, E. et al., 2018. An Electromagnetic Sensor Prototype to Assist Visually Impaired and Blind People in Autonomous Walking. IEEE Sensors Journal, 18(6), pp. 2568-2576. Cardillo E. et al., 2018 . An Electromagnetic Sensor Prototype to Assist Visually Impaired and Blind People in Autonomous Walking . IEEE Sensors Journal , 18 ( 6 ), pp. 2568 - 2576 . 10.1109/JSEN.2018.2795046 Search in Google Scholar

Chen, K.-Y. & Tsui , C.-Y., 2021. The Fuzzy Control Approach for a Quadruped Robot Guide Dog. International Journal of Fuzzy Systems, Volume 23, p. 1789–1796. Chen K.-Y. & Tsui C.-Y. , 2021 . The Fuzzy Control Approach for a Quadruped Robot Guide Dog . International Journal of Fuzzy Systems , Volume 23 , p. 1789 – 1796 . 10.1007/s40815-020-01046-x Search in Google Scholar

Chuang, T.-K.et al., 2018. Deep Trail-Following Robotic Guide Dog in Pedestrian Environments for People who are Blind and Visually Impaired - Learning from Virtual and Real Worlds. Brisbane, Australia, 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 5849-5855. Chuang T.-K. et al., 2018 . Deep Trail-Following Robotic Guide Dog in Pedestrian Environments for People who are Blind and Visually Impaired - Learning from Virtual and Real Worlds . Brisbane, Australia , 2018 IEEE International Conference on Robotics and Automation (ICRA) , pp. 5849 - 5855 . 10.1109/ICRA.2018.8460994 Search in Google Scholar

Deep Robotics, 2022. Available at: https://www.deeprobotics.cn/en/products_jy_303.html [Accessed 02 January 2022]. Deep Robotics , 2022 . Available at: https://www.deeprobotics.cn/en/products_jy_303.html [Accessed 02 January 2022] . Search in Google Scholar

Deverell, L. et al., 2020. Use of technology by orientation and mobility professionals in Australia and Malaysia before COVID-19. Disability and Rehabilitation: Assistive Technology. Deverell L. et al., 2020 . Use of technology by orientation and mobility professionals in Australia and Malaysia before COVID-19 . Disability and Rehabilitation: Assistive Technology . 10.1080/17483107.2020.178556532643468 Search in Google Scholar

Endo, Y., Sato, K., Yamashita, A. & Matsubayashi, K., 2017. Indoor positioning and obstacle detection for visually impaired navigation system based on LSD-SLAM. Kyoto, Japan, 2017 International Conference on Biometrics and Kansei Engineering (ICBAKE), pp. 158-162. Endo Y. , Sato K. , Yamashita A. & Matsubayashi K. , 2017 . Indoor positioning and obstacle detection for visually impaired navigation system based on LSD-SLAM . Kyoto, Japan , 2017 International Conference on Biometrics and Kansei Engineering (ICBAKE) , pp. 158 - 162 . 10.1109/ICBAKE.2017.8090635 Search in Google Scholar

Fankhauser, P. et al., 2016. Free Gait – An Architecture for the Versatile Control of Legged Robots. s.l., IEEE-RAS International Conference on Humanoid Robots, pp. 1052-1058. Fankhauser P. et al., 2016 . Free Gait – An Architecture for the Versatile Control of Legged Robots. s.l. , IEEE-RAS International Conference on Humanoid Robots , pp. 1052 - 1058 . 10.1109/HUMANOIDS.2016.7803401 Search in Google Scholar

Fankhauser, P. et al., 2018. Robust Rough-Terrain Locomotion with a Quadrupedal Robot. Brisbane, Australia, 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 5761-5768. Fankhauser P. et al., 2018 . Robust Rough-Terrain Locomotion with a Quadrupedal Robot . Brisbane, Australia , 2018 IEEE International Conference on Robotics and Automation (ICRA) , pp. 5761 - 5768 . 10.1109/ICRA.2018.8460731 Search in Google Scholar

Gomez, J. V. & Sandnes, F. E., 2012. RoboGuideDog: guiding blind users through physical environments with laser range scanners. Procedia Computer Science, Vol 14, pp. 218-225. Gomez J. V. & Sandnes F. E. , 2012 . RoboGuideDog: guiding blind users through physical environments with laser range scanners . Procedia Computer Science , Vol 14 , pp. 218 - 225 . 10.1016/j.procs.2012.10.025 Search in Google Scholar

Guerreiro , J. et al., 2019. CaBot: Designing and Evaluating an Autonomous Navigation Robot for Blind People. s.l., The 21st International ACM SIGACCESS Conference on Computers and Accessibility, pp. 68-92. Guerreiro J. et al., 2019 . CaBot: Designing and Evaluating an Autonomous Navigation Robot for Blind People. s.l. , The 21st International ACM SIGACCESS Conference on Computers and Accessibility , pp. 68 - 92 . 10.1145/3308561.3353771 Search in Google Scholar

Guerrero, J. C., Quezada-V, C. & Chacón-Troya, D., 2018. Design and Implementation of an Intelligent Cane, with Proximity Sensors, GPS Localization and GSM Feedback. s.l., 2018 IEEE Canadian Conference on Electrical & Computer Engineering (CCECE), pp. 1-4. Guerrero J. C. , Quezada-V C. & Chacón-Troya D. , 2018 . Design and Implementation of an Intelligent Cane, with Proximity Sensors, GPS Localization and GSM Feedback. s.l. , 2018 IEEE Canadian Conference on Electrical & Computer Engineering (CCECE) , pp. 1 - 4 . Search in Google Scholar

Gunethilake, W., 2020. Blind Navigation using Deep Learning-Based Obstacle Detection, Colombo: University of Colombo. Gunethilake W. , 2020 . Blind Navigation using Deep Learning-Based Obstacle Detection , Colombo : University of Colombo . Search in Google Scholar

Hill, J. & Black, J., 2003. The Miniguide: A New Electronic Travel Device. Journal of Visual Impairment & Blindness, 97(10), pp. 1-6. Hill J. & Black J. , 2003 . The Miniguide: A New Electronic Travel Device . Journal of Visual Impairment & Blindness , 97 ( 10 ), pp. 1 - 6 . 10.1177/0145482X0309701010 Search in Google Scholar

Holmes, N. & Prentice, K., 2015. iPhone video link FaceTime as an orientation tool: Remote O&M for people with vision impairment. International Journal of Orientation & Mobility, 7(1), pp. 60-67. Holmes N. & Prentice K. , 2015 . iPhone video link FaceTime as an orientation tool: Remote O&M for people with vision impairment . International Journal of Orientation & Mobility , 7 ( 1 ), pp. 60 - 67 . 10.21307/ijom-2017-057 Search in Google Scholar

Kalpana, S., Rajagopalan, S., Ranjith, R. & Gomathi, R., 2020. Voice Recognition Based Multi Robot for Blind People Using Lidar Sensor. s.l., 2020 International Conference on System, Computation, Automation and Networking (ICSCAN), pp. 1-6. Kalpana S. , Rajagopalan S. , Ranjith R. & Gomathi R. , 2020 . Voice Recognition Based Multi Robot for Blind People Using Lidar Sensor. s.l. , 2020 International Conference on System, Computation, Automation and Networking (ICSCAN) , pp. 1 - 6 . 10.1109/ICSCAN49426.2020.9262365 Search in Google Scholar

Kayukawa , S. et al., 2019. BBeep: A Sonic Collision Avoidance System for Blind Travellers and Nearby Pedestrians. s.l., Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems, pp. 1-12. Kayukawa S. et al., 2019 . BBeep: A Sonic Collision Avoidance System for Blind Travellers and Nearby Pedestrians. s.l. , Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems , pp. 1 - 12 . 10.1145/3290605.3300282 Search in Google Scholar

Kayukawa, S. et al., 2019. Bbeep: A sonic collision avoidance system for blind travellers and nearby pedestrians. s.l., In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems, pp. 1-12. Kayukawa S. et al., 2019 . Bbeep: A sonic collision avoidance system for blind travellers and nearby pedestrians. s.l. , In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems , pp. 1 - 12 . 10.1145/3290605.3300282 Search in Google Scholar

Khandelwal, P. & Stone, P., 2014. Leading the Way: An Efficient Multi-Robot Guidance System. s.l., In 2014 AAAI Fall Symposium Series. Khandelwal P. & Stone P. , 2014 . Leading the Way: An Efficient Multi-Robot Guidance System. s.l. , In 2014 AAAI Fall Symposium Series . Search in Google Scholar

Kulyukin, V. et al., 1999. A robotic wayfinding system for the visually impaired. s.l., In Proceedings of the National Conference on Artificial Intelligence, pp. 864-869. Kulyukin V. et al., 1999 . A robotic wayfinding system for the visually impaired. s.l. , In Proceedings of the National Conference on Artificial Intelligence , pp. 864 - 869 . Search in Google Scholar

Lacey, G. & Dawson-Howe, K. M., 1998. The application of robotics to a mobility aid for the elderly blind. Robotics and Autonomous Systems, 23(4), pp. 245-252. Lacey G. & Dawson-Howe K. M. , 1998 . The application of robotics to a mobility aid for the elderly blind . Robotics and Autonomous Systems , 23 ( 4 ), pp. 245 - 252 . 10.1016/S0921-8890(98)00011-6 Search in Google Scholar

Lacey, G. & Howe, K. D., 1997. Evaluation of Robot Mobility Aid for the Elderly Blind. s.l., In Proceedings of the Fifth International Symposium on Intelligent Robotic Systems. Lacey G. & Howe K. D. , 1997 . Evaluation of Robot Mobility Aid for the Elderly Blind. s.l. , In Proceedings of the Fifth International Symposium on Intelligent Robotic Systems . Search in Google Scholar

Lloyd, J., Budge, C. & Stafford, K., 2021. Handlers’ Expectations and Perceived Compatibility regarding the Partnership with Their First Guide Dogs. Animals, 11(10), p. 2765. Lloyd J. , Budge C. & Stafford K. , 2021 . Handlers’ Expectations and Perceived Compatibility regarding the Partnership with Their First Guide Dogs . Animals , 11 ( 10 ), p. 2765 . 10.3390/ani11102765853272134679787 Search in Google Scholar

Long, N. et al., 2019. Low power millimeter wave radar system for the visually impaired.. The Journal of Engineering, Volume 19, pp. 6034-6038. Long N. et al., 2019 . Low power millimeter wave radar system for the visually impaired. . The Journal of Engineering , Volume 19 , pp. 6034 - 6038 . 10.1049/joe.2019.0037 Search in Google Scholar

Long, N. et al., 2019. Unifying obstacle detection, recognition, and fusion based on millimeter wave radar and RGB-depth sensors for the visually impaired. Review of Scientific Instruments, 90(4), p. 044102. Long N. et al., 2019 . Unifying obstacle detection, recognition, and fusion based on millimeter wave radar and RGB-depth sensors for the visually impaired . Review of Scientific Instruments , 90 ( 4 ), p. 044102 . 10.1063/1.509327931042998 Search in Google Scholar

Megalingam, R. K., Vishnu, S., Sasikumar, V. & Sreekumar, S., 2019. Autonomous Path Guiding Robot for Visually Impaired People. In: P. Mallick , V. Balas, A. Bhoi & A. Zobaa, eds. Cognitive Informatics and Soft Computing. s.l.:Springer, pp. 257-266. Megalingam R. K. , Vishnu S. , Sasikumar V. & Sreekumar S. , 2019 . Autonomous Path Guiding Robot for Visually Impaired People . In: P. Mallick , V. Balas , A. Bhoi & A. Zobaa , eds. Cognitive Informatics and Soft Computing . s.l.: Springer , pp. 257 - 266 . 10.1007/978-981-13-0617-4_25 Search in Google Scholar

Miyazaki, Y., Ohya, A. & Yuta, S., 2000. Obstacle avoidance behavior of autonomous mobile robot using fiber grating vision sensor. Nagoya, Japan, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000., pp. 1925-1930. Miyazaki Y. , Ohya A. & Yuta S. , 2000 . Obstacle avoidance behavior of autonomous mobile robot using fiber grating vision sensor . Nagoya, Japan , 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. , pp. 1925 - 1930 . Search in Google Scholar

NSK Ltd, 2015. NSK Improves LIGHBOT™ (Guide Robot with Indoor Navigation and Obstacle Avoidance). Available at: https://www.nsk.com/company/news/2015/press1202d.html [Accessed 28 December 2021]. NSK Ltd , 2015 . NSK Improves LIGHBOT™ (Guide Robot with Indoor Navigation and Obstacle Avoidance) . Available at: https://www.nsk.com/company/news/2015/press1202d.html [Accessed 28 December 2021]. Search in Google Scholar

Ozioko, O., Nassar, H. & Dahiya, R., 2021. 3D Printed Interdigitated Capacitor Based Tilt Sensor. IEEE Sensors Journal, 21(23), pp. 26252-26259. Ozioko O. , Nassar H. & Dahiya R. , 2021 . 3D Printed Interdigitated Capacitor Based Tilt Sensor . IEEE Sensors Journal , 21 ( 23 ), pp. 26252 - 26259 . 10.1109/JSEN.2021.3058949 Search in Google Scholar

Petsiuk, A. L. & Pearce, J. M., 2019. Low-Cost Open Source Ultrasound-Sensing Based Navigational Support for the Visually Impaired. Sensors, 19(17), pp. 1-14. Petsiuk A. L. & Pearce J. M. , 2019 . Low-Cost Open Source Ultrasound-Sensing Based Navigational Support for the Visually Impaired . Sensors , 19 ( 17 ), pp. 1 - 14 . 10.3390/s19173783674937331480451 Search in Google Scholar

Rahman, S. U., Ullah, S. & Ullah, S., 2018. Obstacle Detection in Indoor Environment for Visually Impaired Using Mobile Camera. Journal of Physics: Conference Series, 960(1), p. 012046. Rahman S. U. , Ullah S. & Ullah S. , 2018 . Obstacle Detection in Indoor Environment for Visually Impaired Using Mobile Camera . Journal of Physics: Conference Series , 960 ( 1 ), p. 012046 . 10.1088/1742-6596/960/1/012046 Search in Google Scholar

Raibert, M., Blankespoor, K., Nelson, G. & Playter, R., 2008. BigDog, the Rough-Terrain Quadruped Robot. Seoul, Proceedings of the 17th World Congress, The International Federation of Automatic Control, pp. 10822-10825. Raibert M. , Blankespoor K. , Nelson G. & Playter R. , 2008 . BigDog, the Rough-Terrain Quadruped Robot . Seoul , Proceedings of the 17th World Congress, The International Federation of Automatic Control , pp. 10822 - 10825 . 10.3182/20080706-5-KR-1001.01833 Search in Google Scholar

Rumipamba L., J. A., Pérez C., A. R., Flores A, C. E. & Romero S., J. M., 2019. Prototype of guide robot using marks in dynamic environments for visually impaired people. Shanghai, China, Proceedings Volume 11321, 2019 International Conference on Image and Video Processing, and Artificial Intelligence, p. 1132109. Rumipamba L., J. A. , Pérez C., A. R. , Flores A, C. E. & Romero S., J. M. , 2019 . Prototype of guide robot using marks in dynamic environments for visually impaired people . Shanghai, China , Proceedings Volume 11321, 2019 International Conference on Image and Video Processing, and Artificial Intelligence , p. 1132109 . 10.1117/12.2538795 Search in Google Scholar

Santos, A. D. P. D., Medola, F. O., Cinelli, M. J. & Ramirez, A. R. G., 2020. Are electronic white canes better than traditional canes? A comparative study with blind and blindfolded participants. Universal Access in the Information Society, Volume 20, pp. 93-103. Santos A. D. P. D. , Medola F. O. , Cinelli M. J. & Ramirez A. R. G. , 2020 . Are electronic white canes better than traditional canes? A comparative study with blind and blindfolded participants . Universal Access in the Information Society , Volume 20 , pp. 93 - 103 . 10.1007/s10209-020-00712-z Search in Google Scholar

Seamless Vision, 2022. Available at: https://www.seamless-vision.com [Accessed 02 January 2022]. Seamless Vision , 2022 . Available at: https://www.seamless-vision.com [Accessed 02 January 2022]. Search in Google Scholar

Shao, Y. et al., 2021. Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller. IEEE Robotics and Automation Letters. Shao Y. et al., 2021 . Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller . IEEE Robotics and Automation Letters . 10.1109/LRA.2021.3136645 Search in Google Scholar

Sharifi, N., Ali, M., Holmes, G. & Chen, Y., 2020. Blind Obstacle Avoidance Using Taxicab Geometry for NanorobotAssisted Direct Drug Targeting. Montreal, Canada, 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), pp. 4700-4703. Sharifi N. , Ali M. , Holmes G. & Chen Y. , 2020 . Blind Obstacle Avoidance Using Taxicab Geometry for NanorobotAssisted Direct Drug Targeting . Montreal, Canada , 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) , pp. 4700 - 4703 . 10.1109/EMBC44109.2020.917516533019041 Search in Google Scholar

Shiizu, Y., Hirahara, Y., Yanashima, K. & Magatani, K., 2007. The development of a white cane which navigates the visually impaired. s.l., 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5005-5008. Shiizu Y. , Hirahara Y. , Yanashima K. & Magatani K. , 2007 . The development of a white cane which navigates the visually impaired. s.l. , 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society , pp. 5005 - 5008 . 10.1109/IEMBS.2007.435346418003130 Search in Google Scholar

Shoval, S., Borenstein, J. & Koren, Y., 1994. Mobile robot obstacle avoidance in a computerized travel aid for the blind. San Diego, USA, Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Shoval S. , Borenstein J. & Koren Y. , 1994 . Mobile robot obstacle avoidance in a computerized travel aid for the blind . San Diego, USA , Proceedings of the 1994 IEEE International Conference on Robotics and Automation . Search in Google Scholar

Shoval, S., Borenstein, J. & Koren, Y., 1998. The NavBelt-a computerized travel aid for the blind based on mobile robotics technology. IEEE Transactions on Biomedical Engineering, 45(11), pp. 1376-1386. Shoval S. , Borenstein J. & Koren Y. , 1998 . The NavBelt-a computerized travel aid for the blind based on mobile robotics technology . IEEE Transactions on Biomedical Engineering , 45 ( 11 ), pp. 1376 - 1386 . 10.1109/10.7253349805836 Search in Google Scholar

Ulrich, I. & Borenstein, J., 1998. VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots. Leuven, Belgium, Proceedings. 1998 IEEE International Conference on Robotics and Automation. Ulrich I. & Borenstein J. , 1998 . VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots . Leuven, Belgium , Proceedings. 1998 IEEE International Conference on Robotics and Automation . Search in Google Scholar

Unitree Robotics, 2022. Available at: https://www.unitree.com/products/aliengo [Accessed 02 January 2022]. Unitree Robotics , 2022 . Available at: https://www.unitree.com/products/aliengo [Accessed 02 January 2022]. Search in Google Scholar

Vorapatratorn, S., Suchato, A. & Punyabukkana, P., 2021. Fast obstacle detection system for the blind using depth image and machine learning. Engineering and Applied Science Research, 48(5), pp. 593-603. Vorapatratorn S. , Suchato A. & Punyabukkana P. , 2021 . Fast obstacle detection system for the blind using depth image and machine learning . Engineering and Applied Science Research , 48 ( 5 ), pp. 593 - 603 . Search in Google Scholar

Wang, S. et al., 2021. Balance Control of a Novel Wheel-legged Robot: Design and Experiments. Xian, China, IEEE International Conference on Robotics and Automation (ICRA), pp. 6782-6788. Wang S. et al., 2021 . Balance Control of a Novel Wheel-legged Robot: Design and Experiments . Xian, China , IEEE International Conference on Robotics and Automation (ICRA) , pp. 6782 - 6788 . 10.1109/ICRA48506.2021.9561579 Search in Google Scholar

Weilan, 2022. Available at: http://www.weilan.com [Accessed 03 January 2022]. Weilan , 2022 . Available at: http://www.weilan.com [Accessed 03 January 2022] . Search in Google Scholar

Wei, Y., Kou, X. & Lee, M. C., 2014. A New Vision and Navigation Research for a Guide-dog Robot System in Urban System. Besançon, France, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Wei Y. , Kou X. & Lee M. C. , 2014 . A New Vision and Navigation Research for a Guide-dog Robot System in Urban System . Besançon, France , 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics . 10.1109/AIM.2014.6878260 Search in Google Scholar

Wei, Y., Kou, X. & Lee, M. C., 2014. A New Vision and Navigation Research for a Guide-dog Robot System in Urban System. Besançon, France, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1290-1295. Wei Y. , Kou X. & Lee M. C. , 2014 . A New Vision and Navigation Research for a Guide-dog Robot System in Urban System . Besançon, France , 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) , pp. 1290 - 1295 . 10.1109/AIM.2014.6878260 Search in Google Scholar

Wong, C., Wee, D., Murray, I. & Dias, T., 2001. A novel design of integrated proximity sensors for the white cane. Perth, Australia, The Seventh Australian and New Zealand Intelligent Information Systems Conference, pp. 197-201. Wong C. , Wee D. , Murray I. & Dias T. , 2001 . A novel design of integrated proximity sensors for the white cane . Perth, Australia, The Seventh Australian and New Zealand Intelligent Information Systems Conference , pp. 197 - 201 . 10.1109/ANZIIS.2001.974075 Search in Google Scholar

World Health Organisation, 2021. Available at: https://www.who.int/news-room/fact-sheets/detail/blindness-and-visual-impairment#:~:text=Globally%2C%20at%20least%202.2%20billion,uncorrected%20refractive%20errors%20and%20cataracts. World Health Organisation , 2021 . Available at: https://www.who.int/news-room/fact-sheets/detail/blindness-and-visual-impairment#:~:text=Globally%2C%20at%20least%202.2%20billion,uncorrected%20refractive%20errors%20and%20cataracts. Search in Google Scholar

Xiao, A. et al., 2021. Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. Xi'an, China, IEEE International Conference on Robotics and Automation (ICRA), pp. 11470-11476. Xiao A. et al., 2021 . Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction . Xi'an, China , IEEE International Conference on Robotics and Automation (ICRA) , pp. 11470 - 11476 . 10.1109/ICRA48506.2021.9561786 Search in Google Scholar

Yelamarthi, K., Haas, D., Nielsen, D. & Mothersell, S., 2010. RFID and GPS integrated navigation system for the visually impaired. Seattle, USA, 2010 53rd IEEE International Midwest Symposium on Circuits and Systems, pp. 1149-1152. Yelamarthi K. , Haas D. , Nielsen D. & Mothersell S. , 2010 . RFID and GPS integrated navigation system for the visually impaired . Seattle, USA , 2010 53rd IEEE International Midwest Symposium on Circuits and Systems , pp. 1149 - 1152 . 10.1109/MWSCAS.2010.5548863 Search in Google Scholar

Yupa, F., Pozo, N. & Ayala, E., 2021. Smart White Cane for Unevenness Detection Using an Optical Device for Visually Impaired People Assistance. In: Á. Rocha, P. López-López & J. Salgado-Guerrero, eds. Communication, Smart Technologies and Innovation for Society. Singapore: Springer, pp. 659-671. Yupa F. , Pozo N. & Ayala E. , 2021 . Smart White Cane for Unevenness Detection Using an Optical Device for Visually Impaired People Assistance . In: Á. Rocha , P. López-López & J. Salgado-Guerrero , eds. Communication, Smart Technologies and Innovation for Society . Singapore : Springer , pp. 659 - 671 . 10.1007/978-981-16-4126-8_59 Search in Google Scholar

Zhang, H., Jin, L. & Ye, C., 2021. An RGB-D Camera Based Visual Positioning System for Assistive Navigation by a Robotic Navigation Aid. IEEE/CAA Journal Of Automatica Sinica, 8(8), pp. 1389-1400. Zhang H. , Jin L. & Ye C. , 2021 . An RGB-D Camera Based Visual Positioning System for Assistive Navigation by a Robotic Navigation Aid . IEEE/CAA Journal Of Automatica Sinica , 8 ( 8 ), pp. 1389 - 1400 . 10.1109/JAS.2021.1004084 Search in Google Scholar

Zhang, Z. et al., 2021. Efficient Motion Planning Based on Kinodynamic Model for Quadruped Robots Following Persons in Confined Spaces. IEEE/ASME Transactions on Mechatronics, 26(4), pp. 1997-2006. Zhang Z. et al., 2021 . Efficient Motion Planning Based on Kinodynamic Model for Quadruped Robots Following Persons in Confined Spaces . IEEE/ASME Transactions on Mechatronics , 26 ( 4 ), pp. 1997 - 2006 . 10.1109/TMECH.2021.3083594 Search in Google Scholar