Integration of Navigational Aid Application for

Visually Impaired User

SIT 340 - Research and Development in Information Technology

FEBRUARY 8, 2016
STUDENT NAME: NIJIA WEI
Student ID: 212537372
Contents
1. Abstract ......................................................................................................................................... 3

2. Introduction .................................................................................................................................. 3

3. Related work ................................................................................................................................. 3

3.1. Navigational Data transmitting ............................................................................................. 4

3.2. Route finding ......................................................................................................................... 4

3.3. Obstacles detection .............................................................................................................. 4

4. Integration of navigational aid application for visually impaired ................................................. 5

4.1. Framework overview ............................................................................................................ 5

4.1.1. System structure overview ........................................................................................... 5

4.1.2. Internal cooperation ..................................................................................................... 6

4.1.3. I/O information optimisation ...................................................................................... 10

4.2. Assumption ......................................................................................................................... 11

4.2.1. Scenario analysis ......................................................................................................... 11

4.2.2. Available techniques in use......................................................................................... 11

4.3. Solution Justification ........................................................................................................... 11

4.4. Limitation ............................................................................................................................ 12

5. Evaluation ................................................................................................................................... 12

5.1. Evaluation criteria ............................................................................................................... 12

5.2. Evaluation methodology ..................................................................................................... 13

5.2.1. Simulation ................................................................................................................... 13

5.2.2. Comparison with other solution ................................................................................. 14

6. Conclusion ................................................................................................................................... 16

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References .......................................................................................................................................... 17

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1. Abstract
The majority prevalent navigational mobile app instructed to visual impaired users are
dedicatedly designed for achieving one functionality, however, low sighted people may require a
series assistances during their travel, such as vocally navigational information with high quality, route
finding, detecting of obstacle, deviation recovery. In this report the solution for the issue mentioned
in the survey will be demonstrated via presenting the integrity of that three individual methods
including navigational data transmission, route finding and obstacle detection along with the
techniques employed in noise and deviation deduction.

2. Introduction
Navigational system, such as GPS (Global Position System), has been commonly used in helping
people, especially the community with visual disability, for route finding. While, people with vision
impairment usually employ neither a white cane nor a guide dog for investigating environment but
they still have difficulty planning for feel anxious about unfamiliar route. (Liao, 2012, p. 10) However,
this is the motivation for most software engineers to exert their efforts in designing specific
navigational application for person with vison impairment for finding most safety and convenient
path using GPS. As a visually impaired people lack the ability to perceived and compute visual
information that is essential in navigation activity, an unknown environment can be uncomfortable
for people having disability of blindness, as they compensate their disability by creating mental maps
from sensory image all the functions involved in mobility-aid application should focus on presenting
perceivable information that depicts the current location for clients. (Anam Ashraf, Arif Raza, 2014, p.
760). The main approaches exist to help the visually impaired including route finding, obstacles
detection and talking points based on electronic tags with spoken messages, however, the
integration of these three functions is not available. Furthermore, the client updates its grammar
from database to help them recognize buildings and other landmarks when they initiate this
requests, and these are important for conducting a return route and a customised route if GPS/GIS
data is not retrievable. But, in reality, due to the natural side-to-side sway of the body during
walking, the current method in use cannot guarantee the quality of the auditory output as feedback
keeps alternating between left and right, resulting in the rates of deviation. (Sabrina A. Panels,
Dylan Varenne, Je!rey R. Blum and Jeremy R. Cooperstock, 2013, p. 25) Secondly, absence of
contingency plan for deviation, the anxiousness is increased during the entire travel, as client should
precisely and continuously provide feedback to the system in order to let application get sufficient
information for conduct updated route that also reducing the performance as more data need be
processed simultaneously. The best solution is providing an integration enabling that all the main
factions work cooperatively.

3. Related work
There are three individual functions have been evaluated in the literature survey via
demonstrating their working processes and methods.

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3.1. Navigational Data transmitting

Existing solution This application employed for navigational purpose for visually impaired user
are structured with 2-layer client server architecture using Java technology only that ensure the
platform independence. As J2ME at clients side and J2EE at the servers, the availability of
connection with WEB server is not necessary. (R.Ivanov, 2013, p. 2) This structure is primarily used
for sending environment information for the user including names of landmarks, route way points,
route name, which are generated with GPS maps.

Drawbacks analysis The diagram shows the structure in relation to data transmission,
however, the route plan cannot be modified according to the current situation if user lost their way
as deviation happened. While, in terms of route planning, there is no specific algorithm being used to
conduct a relative short path without high volume of traffic and dynamic obstacles.

3.2. Route finding

Existing solution- There are two major functions: creation of the weighted graph and calculation
of the shortest path between two points. Information about the vertexes and edges used to build a
graph are imported from XML files which are capable of modifying information about the space or
points. Spatial coordinates are added to each vertex, and each vertex is linked by edges specified
with the weight to the others. Dijkstras shortest path algorithm is employed to calculate the final
route for client which is consistent of the design principle mentioned in last section. (Duarte, Ceclio,
Silva, & Furtado, 2014, p. 470)

Drawbacks analysis Due to the absence of obstacles detection system, this route selecting
algorithm only provides the shortest path, in relation to that a blind user shortest path to the
destination is not the preference while the best route is the one with the least hazard. (Abdelsalam
(Sumi) Helal;Steven Edwin Moore;Balaji Ramachandran, 2012, p. 6) In other words, obstacles
avoidance is priory to length in path finding which increase the travel time.

3.3. Obstacles detection

Existing solution - The obstacles detection system consists of two separate modules including
GPS track module sand obstacle detection module in order to indicating the position of client and
obstacles respectively. The track date conducted from track module will be updated constantly
according to the current position of the client and then sent to obstacle detection module for further
computation. (Amutha & Nanmaran, 2014, p. 3)

Drawbacks analysis The algorithm only provides a solution in dynamic obstacles detection
where function of route finding is not included. Hence, this method may not give informative
solution when user lose their way, requiring the application to present an orientation. As user may
give response to the alert of obstacles, the possibility of deviation may increase as well, however, this
situation has not been mentioned in this algorithm.

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4. Integration of navigational aid application for visually impaired
Based on the former survey, there are three main functions have been identified as three
fundamental features that should be involved in our solution as a single application along with the
solution in relation to solving deviation and improving the quality of auditory I/O information.

4.1. Framework overview

In this section the integration of navigational aid application will be explained through three
different phases including system structure overview that gives a basic demonstration about the
solution, internal cooperation that explains the process related to data transmission between each
method, and the method used for input and output information optimisation.

4.1.1. System structure overview

Image 1 System structure for new solution integration of navigational aid application for visual
impaired

This image demonstrates the final integration of these four functions involved in application
system along with the method used for acquiring data and output data.

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 The first performance is downloading GPS maps once the use initiate the application. While,
when a GPS map is not obtainable, a virtual map is used or retrieving a route planned by client.
During the journal, information related to buildings and other landmarks is constantly recorded into
database. When client request to get access, which is inserted by the other uses of the WEB device,
to the designated landmarks, the application begins to download landmarks information depending
on the position of the client. (R.Ivanov, 2013, p. 3)

Inside the computation system, the route finding system will be firstly triggered once the app
has been activated, conducting a route using Dijkstras shortest path algorithm to calculate a path
with relatively lower volume of dynamic obstacles, while, technically, the selected route in this stage
is not the shortest one as the algorithm should give respect to avoiding obstacles volume during the
calculation.

Obstacles detection will be activated simultaneously to sensor dynamic obstacles along the
path, while giving user information about location information with landmarks, obstacle information
based on size, direction and nature of the obstacles in front and back. This system will also send
signal to route finding system recalculate an absolute short path with acceptable traffic volume since
the obstacle avoidance system is available, meanwhile, the same signal will be used to trigger
deviation detection system.

The deviation can be detected based on the information absorbed from FRID reader and user
auditory input. The conducted data will be sent to route finding system to recalculate new
orientation instruction and query then converted into audio signal and conveyed to the users
through output system.

The users may give vocal response according to instruction query to help deviation detection
system to conduct data accurately. The body sway filter is used for optimizing the audio input from
user to increasing the information accuracy.

4.1.2. Internal cooperation

The new solution is performed as an integration of those five functionalities involved in

computation system. In this section the solution will be delicately demonstrated from the
perspective of internal data transmission.

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 4.1.2.1. Data from cloud to route finding system

Image 2 Data transmission From Cloud to route finding system

The cloud system employed for navigational purpose for visually impaired user are structured
with 2-layer client server architecture using Java technology only that ensure the platform
independence. As J2ME at clients side and J2EE at the servers, the availability of connection with
WEB server is not necessary. (R.Ivanov, 2013, p. 2) The GPS and GIS dataset in this cast is obtained
from UFPPD (UFs physical plant division). Obviously, the efficiency of navigational information for
blind user is highly depending on the scale of the dataset. Ideally, a scale of 1:1 is the most
appropriate one, the scale used in this system is 1:1200 with an acceptable performance.
(Abdelsalam (Sumi) Helal;Steven Edwin Moore;Balaji Ramachandran, 2012, p. 6)

4.1.2.2. Data from cloud to obstacles detection system

Image 3 Data transmission From Cloud to obstacles detection system

The obstacles detection system consists of two separate modules including GPS track module
and obstacle detection module in order to indicating the position of client and obstacles respectively.
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The track date conducted from track module will be updated constantly according to the current
position of the client and then sent to obstacle detection module for further computation. (Amutha
& Nanmaran, 2014, p. 3)

Image 3.1 GPS Track module (Amutha & Nanmaran, 2014, p. 4)

The workflow of the GPS track modules is illustrated in figure 5. The information about the user
movement is conducted by GPS receiver and the updated states will be send to and recorded in
micro controller, while the information about the user movement is conveying to the constant
velocity section being processed using time update equation and measurement update equation to
produce a computable statistic which will be used for conduction user current location presented in
coordinates. This output will be computed with the information of the stats retrieved from micro
controller using LMA (landmark mapping algorithm), then the results are sent back to micro
controller and voice guidance system. This conducted information will be finally converted into GPRS
data to server. (Amutha & Nanmaran, 2014, p. 4)

Image 3.2 Obstacle detection module (Amutha & Nanmaran, 2014, p. 17)

The individual UC (ultrasonic/ultrasound sonar sensors), which is directional, has been employed
in this module, gives 50-degree coverage for the user, all the sensors cover up and bottom with the
same beam angle, totally providing 150-degree coverage in front of the user. (Amutha & Nanmaran,
2014, p. 17)

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 4.1.2.3. Data from deviation detection system to route finding system

Image 4 Data transmission Deviation detection to route finding system

The interactive tags installed on the path consist of a protection capsule holding a radio
frequency identification transponder used for detecting the deviation in cooperation to RFID reader
cane. The RFID antenna is used for sensor the tags and sending signal to data server for calculating
the deviation.

Image 4.1 Sesamonet/Radio Virgilio Data workflow (U.Biader Ceipidor,C.M.

Medaglia,F.Rizzo,A.Serbanati, p. 4)

The navigational information including tag position, tag sequence and environmental
information is maintained by data server, while being organized in geographic cells. Meanwhile the
function of data synchronization is completed by server for consistently updating information used
for remapping, which will be completed in route finding system. (U.Biader Ceipidor,C.M.
Medaglia,F.Rizzo,A.Serbanati, p. 4)

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 Image 4.2 Layer model od processing of navigation system (Saleh Alghamdi , Ron van Schyndel ,
Ahmed Alahmadi , 2013, p. 3)

Once recalculation has been trigger as deviation detected, the map of particular area that
defined by triggered tags will be generated in the application, indicating the current position of the
user with the data presented by the closet tag, while these information is essential parameter for
route finding system to recalculate the path. (Saleh Alghamdi , Ron van Schyndel , Ahmed Alahmadi ,
2013, p. 3)

4.1.3. I/O information optimisation

Image 5 US sensor working process (Arjun Sharma, Rahul Patidar, Shubham Mandovara, Ishwar
Rathod, 2013)

The quality of audio input output information can be improved by employing the filter algorithm
with the restrict data revived using US senor. The effects of swaying can be filtered using an
algorithm that detects the walking period by observing changes in peak amplitudes exceeding one
degree and calculates the average heading in each period from the appropriate set of values that are
sampled at 10HZ. (Sabrina A. Panels, Dylan Varenne, Je!rey R. Blum and Jeremy R. Cooperstock,
2013, p. 27) While, the range of US sensor is 3cm to 3meter and frequency is 100 KHz to 50MHz, the
voice massaging chip is generally use for messages storing, the voltage of power can be modified
according to changes of the audio wave conveyed by user, therefore ensuring the quality. (Arjun
Sharma, Rahul Patidar, Shubham Mandovara, Ishwar Rathod, 2013)

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4.2. Assumption

The assumption employed in this solution is based on the discovery indicated in the literature
survey, which has been used as a design guideline to ensure the user requirement will be satisfied.

4.2.1. Scenario analysis

The required functions are varying in corresponding scenario (Chen, Hsuan-Eng;Chen, Chien-
Hsing;Lin, Yi-Ying;Wang, I-Fang, 2015, p. 3):

Straight road section: The user requires the information of current position, how far
to proceed, obstacles and precise address
Intersection area: Clear instruction for next step including straight cross the road,
turn right or left to cross the road, or just turning detraction
Crossing the road: Required information includes distance of the zebra crossing, the
distance of other closing pedestrians, vehicles and configuration of roads.
Walk in progress: Vocal indication of landmarks and special environment clues to
eliminating deviation

4.2.2. Available techniques in use

GPS The Global positioning system is to determine the position of user on earth
that continuously transmits serial data in the form of lines of words. (Digole &
Kulkarni, 2015, p. 53)
GPRS General Packet Radio Service can transmit the information to the server.
(Aswathy V R;Dilraj. N;Sethuraman Rao, 2015, p. 179)
GIS Database - The dataset includes the information translated form AutoCAD data
files that depict building location, streets, walkways, parking and building plans.
(Abdelsalam (Sumi) Helal;Steven Edwin Moore;Balaji Ramachandran, 2012, p. 2)
MCU A microcontroller is a computer-on-chip used to control electronic devices.
(Arjun Sharma, Rahul Patidar, Shubham Mandovara, Ishwar Rathod, 2013, p. 17)
Ultrasound sensors - Used to detect whether obstacles are present in front and back
of the blind person. (Amutha & Nanmaran, 2014, p. 1)
IR The IR sensor provides details about objects that will come is route. (Arjun
Sharma, Rahul Patidar, Shubham Mandovara, Ishwar Rathod, 2013, p. 17)
RFID Radio -frequency identification is a wireless technology employing low
frequency radio to transform small bits of data. (Punit Dharani,Benjamin
Lipson,Devin Thomas, 2012, p. 14)

4.3. Solution Justification

The three of models including Cloud which is used as GPS /GIS database, obstacles detection
system, route finding system, deviation detection system, and body sway filter are dedicated
designed for a specific purpose in relation to providing assistance for visually impaired people who

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 are willing to travel independently. The integration the features with successful design, it is believed
that it is possible to provide effective and versatile assistance via a single system. Considering the
importance of the accuracy of the auditory input and output information, filtering body sway is need
to be presented to eliminating the annoyance and confusion caused by the ambiguity of the
feedback. The effects of swaying can be filtered using an algorithm that detects the walking period by
observing changes in peak amplitudes exceeding one degree and calculates the average heading in
each period from the appropriate set of values. (Sabrina A. Panels, Dylan Varenne, Je!rey R. Blum
and Jeremy R. Cooperstock, 2013, p. 27) Deviation elimination can easily result in user desperation,
however, RFID (Radio Frequency Identification Devices) can be installed on the path, especially the
tactile paving surfaces, to identify location and the direction of the user automatically without user
vocal feedback. (Aswathy V R;Dilraj. N;Sethuraman Rao, 2015, p. 2)As the initial location of use has
been detected using GPS data, if user is on tactile paving surfaces, software directs user to their
closet desired location using FRID reader and RFID tags placed on tactile paving surfaces. (Troy
Coverstone;Christine Cronin;Sofie Kniazeva, 2007, p. 64)

4.4. Limitation

Currently the detected limitation for this solution is mainly related to the insufficiency of data
sensor installation in real environment.

Pedestrian crossing guidance challenges This solution do not enable user

interacting with the pedestrian signals while there is no indication in the app to
inform the user the status of the signals as without any data sensor being installed.
RFID reader restriction Using RFID reader to recognize the presence of RFID tags
requires sufficient sensors being installed along the path in order to consistently
locate the user position. However, realistically, there is no guarantee that an
adequate investment is available for large scale sensors installation.

5. Evaluation
5.1. Evaluation criteria

Efficiency of the new solution will be evaluated through four interplay aspects including quality
of navigational information in relation to path finding, avoiding of obstacles, deviation rates and
travel time from users perspectives.

Functionality evaluation criteria

Functionality
Content quality of navigational
information
Efficiency of path finding system
Satisfactory standard
Clear indication being provided which
extremely reduce the time of
interpreting the audio content
compared with application without
body sway filter installed
Immediately recalculate a new path
according to data from deviation
detection system

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 Efficiency of obstacles detection
system
Efficiency of obstacles detection
system
Efficiency of deviation detection
system
Working cooperatively with route
finding system, that extremely shorten
the length of path
Working cooperatively with deviation
detection system, that extremely
reduce the deviation rate as the
deviation detection system being
activated accurately
Accurately detecting the deviation
amount and sending the data to route
finding system

Table 1 Functionality evaluation criteria

5.2. Evaluation methodology

The final application is designed to be evaluated in two different environments. Outdoor

evaluation is designed for testing the efficiency and performance of obstacle detection system and
route finding system using same path. The indoor testing is focusing on evaluate the cooperation of
body sway filter system and deviation detection system in a multi-floor building. The result will be
presented as a comparison with the corresponding data conducted for existing application or the
condition of no navigational aid system being used.

5.2.1. Simulation

The simulated testing environment is divided into two parts including indoor testing and
outdoor testing. The participants remain the same in relation to the person and the participant
number.

5.2.1.1. Outdoor testing

Image 6 Testing path Image 7 Simulated environment

Considering the scale of this project, in the experiment, only one path will be used which is
comprising nine linear segments defined by 10 way-points. (Jack M. Loomis;Reginald G.
Golledge;Roberta L. Klatzky, 1998) The occasion is designated in a campus, the information of the
path in relation to the building information, street name and traffic volume will be abstained from

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Cloud based on the GPS and GIS data. (Abdelsalam (Sumi) Helal;Steven Edwin Moore;Balaji
Ramachandran, 2012)

5.2.1.2. Indoor testing

Image 8 Background operation of the system (Jain, p. 4)

The efficient of body sway filter will be tested using two forms of auditory feedback to ensure
the audio quality will be evaluated through all possible manners including a continuous audio tone
and an intermittent beeping. This also gives a result of the efficiency of the vocal output. The image 8
shows all the required equipment including the application and RFID sensor.

Image 9 Indoor testing path (Jain, p. 4)

This image illustrates the path used for indoor testing in relation to efficiency of body sway filter
and deviation detection system. Firstly, the mobile application will be connected to the user via
Bluetooth. Secondly, the wall module containing the interactive tags will transmit the location data of
the user to the RFID sensor. Thirdly, IR location information and steps from the accelerometer is
being sent to the deviation conduction system in the same time. Fourthly, the user inputs the current
location to the system for recalculating the path as rectification. Finally, the route finding system will
convey the updated navigational information to the user. (Jain, p. 4)

5.2.2. Comparison with other solution

In this section the comparison results are demonstrated based on the two testing indoor
testing and outdoor testing using quantitative data.

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 5.2.2.1. Efficiency of route finding system and obstacles detection system

Image 10 Path length deduction

The upper path shown that the user travelled with obstacles detection system being activated.
The lower image described the condition that obstacles detection system is not available. The
differences between this two paths are caused by the absence of the information related to
obstacles detection. The algorithm used in route finding system is required to simultaneously
recalculate a new path to giving respect to the obstacles detection system, in other words, avoiding
the obstacles in the solution is used for finding path when OD system deactivated to choosing a path
that user can walk avoid the point with high value of traffic volume, while, once the OD system is
activated, the signal sent from OD system will force the route finding system to recalculate the
weight of the path.

5.2.2.2. Efficiency of body sway filter system

Figure 1 Results of the quantitative analysis, comparing deviations (in degrees) and walking time (in
seconds) on tiled and concrete ground surfaces, based on feedback condition (without and with
feedback) (Sabrina A. Panels, Dylan Varenne, Je!rey R. Blum and Jeremy R. Cooperstock, 2013)

In this evaluation method, two different forms of auditory feedback are being tested including a
continuous audio tone and an intermittent beeping. The pilot experiment is designed with three
different ground surface to eliminating the echo effect caused by the environment. The participants
are all male, from 20 to 33 years, starting a travel with the designated path shown in image 9 without
dynamic obstacles appearing.

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 The result form the figure depicted that the continuous feedback was perceived most accurately
both quantitatively and qualitatively. In term of the quantitative data, the outlier removed yielded
smaller deviation with continuous feedback (M = 2.85, SE = 0.17) compared to the beeping feedback
(M = 3.05, SE = 0.27). Qualitatively, there was a domain preference for the continuous audio feedback
(75%), deeming adequate in relation to the minimum volume of the sound and absence of feedback
when there is no deviation.

To help the participants to familiar with the audio feedback for eliminating the effect caused by
language skill, practice trials are required before starting the real test. In the control condition, the
participants were required to complete the path in their normal way that normal canes are being
used. The average error was conducted to establish their baseline with straight deviation.

The final results show that the feedback condition had a lower deviation to the straight line
compared to the control condition. (Sabrina A. Panels, Dylan Varenne, Je!rey R. Blum and Jeremy R.
Cooperstock, 2013, p. 5)

5.2.2.3. Efficiency of deviation detection system

Figure 2 (Left one) Graph showing the `time of travel' for each user without and with our system. The
graph for Amit and Neha is shown separately (Right one) Graph showing the `number of steps taken'
by each user without and with our system. (Jain, p. 6)
Left chart in figure 2, with the pairwise t-test was significant (two-tailed p<0.01), demonstrates
the comparison of the results for baseline and the condition that deviation detection system is
activated. The system was able to direct the users around turns and obstacles. Therefore, all users were
successfully to reach the destination using shorter time compared with pilot using baseline. The number
of steps taken by users has been reduced by20% as the participants abided by the accurate instructions
provided by the system and no time spending on exploration of the surroundings. (Jain, p. 6)

6. Conclusion
It is necessary to consistently give blind users navigational information in a perceivable format.
Navigation, in turn, involves updating ones positon and orientation during travel with respect to the
intended route, and reorienting and re-establishing travel toward the destination when deviation
detected. (Jack M. Loomis;Reginald G. Golledge;Roberta L. Klatzky, 1998, p. 194) These complex
procedures cannot be properly functioned without the technique support that is solitarily available
on mobile devices.

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 The basic functionality provided by this navigational system designed for visually impaired
person aims to provide indispensable assistance in sensing of the current environment for
impediments to travel and navigating to remote destinations beyond the immediately perceptible
environment, which are two distinct components of human wayfinding. (Jack M. Loomis;Reginald G.
Golledge;Roberta L. Klatzky, 1998, p. 193) While providing information for bypassing obstacles and
hazards using relatively concise information about landmarks, heading, and self-velocity are the
urgent demands from target users. (Harsha Gawari;Prof. Meeta Bakuli, 2014, p. 48) As congenitally
blind people have trouble building spatial knowledge to the level of structural knowledge, auditory
channel is the only access for them to detect the unknown environment, in other words, instead of
using their vison, they have a sound perception of shapes and orientation. (Donggil Song;Arafeh
Karimi;Paul Kim, 2011, p. 234) Therefore, this navigational system coupled with the availability of
providing constantly audio navigational information services is expected by visually impaired
travelers.

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