Table 1.

Evaluation of the assistive device systems dedicated to visually impaired people.

		System	Cost	Real-Time	Portable	Wearable	Reliable	Friendly
Sensor-based ETA	-	Mowat sensors [3]	-	√	√	-	-	-
		Trisensor [4]	high	√	√	-	√	-
		Kuc [5]	moderate	√	√	√	√	-
		GuideCane [6]	high	√	-	-	√	-
		EPFL [7]	moderate	√	√	√	-	-
		CyARM [8]	high	√	√	-	-	√
		SUGAR [9]	low	√	√	-	-	√
		Jeong et al. [10]	high	√	√	-	-	-
Computer Vision based ETA	CCD video camera	SmartVision [11]	low	-	√	√	-	√
		Manduchi et al. [12]	low	√	√	-	-	√
		Tapu et al. [13]	low	√	√	√	-	√
	3D cameras	Saez et al. [14]	high	-	√	√	-	√
		Pradeep et al. [15]	high	-	√	√	√	-
		Sáez et al. [16]	low	√	√	√	-	√
		Khan et al. [17]	moderate	√	√	√	-	-
		Takizawa et al. [18]	high	-	√	√	-	-
		Brock et al. [19]	moderate	√	√	√	-	√
		Panteleris et al. [20]	low	-	√	√	-	√