This paper presents a new holistic vision-based mobile assistive navigation system to help blind and visually impaired people with indoor independent travel. The system detects dynamic obstacles and adjusts path planning in real-time to improve navigation safety. First, we develop an indoor map editor to parse geometric information from architectural models and generate a semantic map consisting of a global 2D traversable grid map layer and context-aware layers. By leveraging the visual positioning service (VPS) within the Google Tango device, we design a map alignment algorithm to bridge the visual area description file (ADF) and semantic map to achieve

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