Indoor navigation to support the blind person using weighted topological map

This paper introduces a new approach of an electronic cane for navigation through the environment, using only vision system to help the blind people. By computing weights between already stored images and the real scene of the environment. The system gives advices for the blind person to select the right direction. This advice depends on a weighted topological map in the form of an appearance graph. Navigation on this graph involves Importance value from one node to other until the goal node is reached. Where a mono camera cane-held gives information in front of the blind person. The system will give a wide range indoor navigation and may be used to outdoor navigation. The identification of different scenes to the blind person has done with in a session. These sessions divide the image database into parts like bedroom, corridor,....etc. The proposed scheme employs SIFT features to represent scene containing many objects in the environment.