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Large indoor spaces have complex layouts making them difficult to navigate.Indoor spaces in hospitals, universities, shopping complexes, etc., carrymulti-modal information in the form of text and symbols. Hence, it is difficultfor Blind and Visually Impaired (BVI) people to independently navigate suchspaces. Indoor environments are usually GPS-denied; therefore, Bluetooth-based,WiFi-based, or Range-based methods are used for localization. These methodshave high setup costs, lesser accuracy, and sometimes need special sensingequipment. We propose a Visual Assist (VA) system for the indoor navigation ofBVI individuals using visual Fiducial markers for localization.State-of-the-art (SOTA) approaches for visual localization using Fiducialmarkers use fixed cameras having a narrow field of view. These approaches stoptracking the markers when they are out of sight. We employ a Pan-Tiltturret-mounted camera which enhances the field of view to 360{\deg} forenhanced marker tracking. We, therefore, need fewer markers for mapping andnavigation. The efficacy of the proposed VA system is measured on threemetrics, i.e., RMSE (Root Mean Square Error), ADNN (Average Distance to NearestNeighbours), and ATE (Absolute Trajectory Error). Our system outperformsHector-SLAM, ORB-SLAM3, and UcoSLAM. The proposed system achieves localizationaccuracy within $\pm8cm$ compared to $\pm12cm$ and $\pm10cm$ for ORB-SLAM3 andUcoSLAM, respectively.

Autonomous Mapping and Navigation using Fiducial Markers and Pan-Tilt Camera for Assisting Indoor Mobility of Blind and Visually Impaired People