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For people who ardently love painting but unfortunately have visualimpairments, holding a paintbrush to create a work is a very difficult task.People in this special group are eager to pick up the paintbrush, like Leonardoda Vinci, to create and make full use of their own talents. Therefore, tomaximally bridge this gap, we propose a painting navigation system to assistblind people in painting and artistic creation. The proposed system is composedof cognitive system and guidance system. The system adopts drawing boardpositioning based on QR code, brush navigation based on target detection andbush real-time positioning. Meanwhile, this paper uses human-computerinteraction on the basis of voice and a simple but efficient positioninformation coding rule. In addition, we design a criterion to efficientlyjudge whether the brush reaches the target or not. According to theexperimental results, the thermal curves extracted from the faces of testersshow that it is relatively well accepted by blindfolded and even blind testers.With the prompt frequency of 1s, the painting navigation system performs bestwith the completion degree of 89% with SD of 8.37% and overflow degree of 347%with SD of 162.14%. Meanwhile, the excellent and good types of brush tiptrajectory account for 74%, and the relative movement distance is 4.21 with SDof 2.51. This work demonstrates that it is practicable for the blind people tofeel the world through the brush in their hands. In the future, we plan todeploy Angle's Eyes on the phone to make it more portable. The demo video ofthe proposed painting navigation system is available at:https://doi.org/10.6084/m9.figshare.9760004.v1.

Angel's Girl for Blind Painters: an Efficient Painting Navigation System Validated by Multimodal Evaluation Approach