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.

翻译：根据世界卫生组织统计，视障人士的数量逐年增加。对于视障人士而言，最迫切的需求之一是安全导航能力。本文提出一种基于视觉SLAM和Yolo算法的单目摄像头导航系统。该系统由三个步骤组成：障碍物距离估计、路径偏差检测和下一步预测。该方法利用ORB-SLAM算法从预定义路径中构建地图，引导用户沿路径行进，并在用户偏离路径时发出通知。此外，系统利用YOLO算法检测路径上的障碍物并向用户发出警报。通过笔记本电脑摄像头获得的实验结果表明，所提系统可在30帧/秒的速率下运行，同时在室内和室外11米长的预定义路径内引导用户。定位系统的精度为8厘米，当用户偏离预定义路径超过60厘米时，系统会发出通知。