Table 6.

Different types of prototypes and algorithms used in that model which can used by visually impaired person.

Prototype	Functionalities	Algorithms
Helmet with omnidirectional camera and sensors(IMUs), backpack with laptop	Indoor positioning, tracking, and indoor scene recognition	Simultaneous localization and mapping algorithm (SLAM)
Stereo camera mounted on a helmet, smartphone, web application, and a cloud platform	Indoor positioning, object detection and recognition, OCR, Speech processing	Vision-based SLAM, Deep CNN based models
A head-mounted RGB-D camera, a laptop, a haptic feedback vest, a smartphone user interface, andIMU sensors	Indoor positioning and navigation with haptic feedback.	Vision based SLAM algorithm
Google Glass for capturing the image and server for object classification	Obstacles detection	AlexNet CNN model
Single camera mounted on Raspberry Pi board	Object detection and recognition, Distance estimation	YOLO object detection algorithm, Distance estimation algorithm