Looking at each phase in Figure 1, the environment mapping phase provides appropriate and relevant location-specific information to support BVIP pedestrians in journey planning and real-time journey support. A taxonomy of navigation support tasks for BVIP pedestrians. In effect, the phases represent higher-level research areas, while the task breakdown structure for each phase shows the research sub-domains.įigure 1. The tasks comprise the range of actions and challenges that a visually impaired person need to succeed at in order to move successfully from an initial point to a selected destination safely and efficiently. Each of these phases consists of a task breakdown structure. At the top level, we identify the three main sequenced phases which encompass the area of outdoor navigation systems, from environment mapping, through journal planning to navigating the journey in real time. We present a taxonomy of outdoor navigation in Figure 1. The first step in analysing this domain is to develop and apply a clear view on both the scope and terminology involved in outdoor pedestrian navigation systems. A Taxonomy of Outdoor Navigation Systems for BVIPĪssistive navigation systems in an urban environment focus on any aspect of supporting pedestrian BVIP in moving in a controlled and safe way for a particular route. It will support both researchers and other stakeholders in the domain to establish an informed view of research progress.Ģ. Our review contributes to the body of knowledge by providing a comprehensive, structured analysis of work in the domain, including the state of the art, and guidance on future directions. We also provide an overview of commercial and non-commercial navigation applications targeted at BVIP. We then use this structure for our systematic review of research, analysing articles, methods, datasets and current limitations by task. We breakdown the navigation area into a series of navigation phases and tasks. Our aim in this article is to present a comprehensive review of research directly in, or relevant to, assistive outdoor navigation for BVIP. In addition, research in overlapping domains are addressing the problem of automatic environment interpretation using computer vision and machine learning, particularly deep learning, approaches. Over the past decade, a variety of assistive devices have been researched and developed to help BVIP navigate more safely and independently. Blind and Visually impaired people (BVIP) face a range of practical difficulties when undertaking outdoor journeys as pedestrians.
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