Knowledge driven indoor object-goal navigation aid for visually impaired people

Aiming to help improve quality of life of the visually impaired people, this paper presents a novel wearable aid in the shape of a helmet for helping them find objects in indoor scenes. An object-goal navigation system based on a wearable device is developed, which consists of four modules: object relation prior knowledge (ORPK), perception, decision and feedback. To make the aid also work well in unfamiliar environment, ORPK is used for sub-goal inference to help the user find the target goal. And a method that learns the ORPK from unlabelled images by utilising a scene graph and knowledge graph is proposed. The effectiveness of the aid is demonstrated in real world experiments.