{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,6]],"date-time":"2025-12-06T17:09:12Z","timestamp":1765040952825,"version":"build-2065373602"},"reference-count":28,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2019,12,25]],"date-time":"2019-12-25T00:00:00Z","timestamp":1577232000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002322","name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","doi-asserted-by":"publisher","award":["1"],"award-info":[{"award-number":["1"]}],"id":[{"id":"10.13039\/501100002322","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003593","name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","doi-asserted-by":"publisher","award":["2"],"award-info":[{"award-number":["2"]}],"id":[{"id":"10.13039\/501100003593","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004916","name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado do Amazonas","doi-asserted-by":"publisher","award":["3"],"award-info":[{"award-number":["3"]}],"id":[{"id":"10.13039\/501100004916","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Samsung Electronics of Amazonia Ltda","award":["4"],"award-info":[{"award-number":["4"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Indoor navigation systems offer many application possibilities for people who need information about the scenery and the possible fixed and mobile obstacles placed along the paths. In these systems, the main factors considered for their construction and evaluation are the level of accuracy and the delivery time of the information. However, it is necessary to notice obstacles placed above the user\u2019s waistline to avoid accidents and collisions. In this paper, different methodologies are associated to define a hybrid navigation model called iterative pedestrian dead reckoning (i-PDR). i-PDR combines the PDR algorithm with a Kalman linear filter to correct the location, reducing the system\u2019s margin of error iteratively. Obstacle perception was addressed through the use of stereo vision combined with a musical sounding scheme and spoken instructions that covered an angle of 120 degrees in front of the user. The results obtained in the margin of error and the maximum processing time are 0.70 m and 0.09 s, respectively, with obstacles at ground level and suspended with an accuracy equivalent to 90%.<\/jats:p>","DOI":"10.3390\/s20010151","type":"journal-article","created":{"date-parts":[[2019,12,25]],"date-time":"2019-12-25T11:07:48Z","timestamp":1577272068000},"page":"151","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Audio Guide for Visually Impaired People Based on Combination of Stereo Vision and Musical Tones"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0254-5050","authenticated-orcid":false,"given":"Walter C. S. S.","family":"Sim\u00f5es","sequence":"first","affiliation":[{"name":"ICOMP\u2014Instituto de Computa\u00e7\u00e3o, UFAM\u2014Federal University of Amazonas, Manaus 69067-005, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuri M. L. R.","family":"Silva","sequence":"additional","affiliation":[{"name":"UFAM-CETELI, PPGEE, and PPGI, Federal University of Amazonas, Manaus 69067-005, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jos\u00e9 Luiz de S.","family":"Pio","sequence":"additional","affiliation":[{"name":"ICOMP\u2014Instituto de Computa\u00e7\u00e3o, UFAM\u2014Federal University of Amazonas, Manaus 69067-005, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nasser","family":"Jazdi","sequence":"additional","affiliation":[{"name":"Institute of Industrial Automation and Software Systems, University of Stuttgart, 70550 Stuttgart, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9864-2850","authenticated-orcid":false,"suffix":"Jr.","given":"Vicente","family":"F. de Lucena","sequence":"additional","affiliation":[{"name":"UFAM-CETELI, PPGEE, and PPGI, Federal University of Amazonas, Manaus 69067-005, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,12,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Mainetti, L., Patrono, L., and Ilaria, S. 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