Аннотация
Indoor navigation remains challenging for students with visual impairments because GPS is unavailable indoors and building layouts are often complex. This paper presents a wearable marker-assisted navigation system integrating QR code localization, SSD MobileNet V3 obstacle detection, TFmini-S LiDAR ranging, A*-based dynamic route planning, and audio feedback on a Raspberry Pi 5. The main contribution is an analytical framework relating marker spacing to predicted localization uncertainty and defining a latency budget for obstacle warnings. A confidence-weighted sensor-fusion method is developed analytically but was not implemented in the evaluated prototype, in which the QR code, camera, and LiDAR channels operated independently. The proposed fusion method and the simulated multi-floor planning extension require further experimental validation. Controlled tests produced a mean positioning error below 1.2 m, a LiDAR ranging MAE of 8.3 cm, and an object-detection throughput of 6–9 FPS. A pilot field evaluation covered nine routes totalling 901 m across two buildings and included one participant with self-reported vision loss of approximately 95%. All route trials were completed, although some required researcher assistance. The system remains a proof of concept and has not yet been evaluated against a baseline or with a sufficiently large target-user sample.