According to WHO statistics, the number of visually impaired people is
increasing annually. One of the most critical necessities for visually impaired
people is the ability to navigate safely. This paper proposes a navigation
system based on the visual slam and Yolo algorithm using monocular cameras. The
proposed system consists of three steps: obstacle distance estimation, path
deviation detection, and next-step prediction. Using the ORB-SLAM algorithm,
the proposed method creates a map from a predefined route and guides the users
to stay on the route while notifying them if they deviate from it.
Additionally, the system utilizes the YOLO algorithm to detect obstacles along
the route and alert the user. The experimental results, obtained by using a
laptop camera, show that the proposed system can run in 30 frame per second
while guiding the user within predefined routes of 11 meters in indoors and
outdoors. The accuracy of the positioning system is 8cm, and the system
notifies the users if they deviate from the predefined route by more than 60
cm.Comment: 14 pages, 6 figures and 6 table