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This systematic mapping review is mainly focused on the scene understanding aspect (e.g., object recognition and obstacle detection) of assistive solutions. It provides guidance for researchers in this field to understand the advances during the last four and a half years. This is because deep learning techniques together with computer vision have become more powerful and accurate than ever in tasks like object detection. These advancements can bring a radical change in the development of high-quality assistive technologies for VI\/blind users. 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