## 2 Related Work  
Visually impaired people face challenges in terms of walking near objects, lack confidence due to limited mobility, and have to memorize directions as they are impossible to note in real time. Although Braille is a universal solution, its limitation lies in the fact that it cannot be used as a guidance tool [27]. Despite aiding visually impaired individuals in comprehending their surroundings, Braille systems do not assist them in navigating paths or avoiding obstacles [11]. In an attempt to overcome the problem of information acquisition by visually impaired people, the authors of [28] presented a method that relies on acoustic feedback and a triboelectric nanogenerator. The assistive device is described as a fingertip-inspired interactor (S.R.F.I.) [29]. It assists a blind person through its structure, recognizing Braille letters, and providing the user with high-quality audio information. On the other hand, a portable, voice-activated Braille-based feedback instrument called \"Voice-Activated Braille\" helps to provide information about specific characters to a visually impaired person [30]. Providing effective and accurate directional feedback in an electronic navigation aid for people who are blind is a challenging task. The researchers in [31] presented a tactile compass that continuously guides a person by giving directions via a pointing needle. Two laboratory experiments in which the system was tested showed that the user could reach the target with an average deviation of 3.03\({}^{\circ}\). Smart canes assist visually impaired individuals navigate their environment and recognize what appears in front of them, both large and small, which cannot be detected and identified with ordinary canes [32; 33]. The walking stick detects an obstacle, and the microphone emits sound in the smart system. The cane also helps detect whether the environment is bright or dark [34]. Walking navigation systems using the Internet of Things and cloud networks are also proposed for indoor use [35]. The smart cane navigation system consists of a built-in camera, integrated microcontrollers, and acceleration sensors that send audio messages. The navigation system uses a cloud service that helps the user navigate from one point to another. The system detects nearby objects and alerts users through a buzzer and sonar. Cloud services retrieve the staff's position and the route to the destination, transmitting these data from the Arduino Wi-Fi board to the cloud. Using a Gaussian model, the system estimates the position based on triangulation. The cloud service is connected to a database storing the shortest, safest, and longest paths. Distance is calculated using sound and echo emissions, which is a cost-effective method, and a text-to-audio converter notifies users about potential obstacles [36]. Another indoor navigation system proposal, based on an augmented cane system, offers real-time guidance by exploring the physical indoor environment using a micro-navigation system. The solution relies on the interaction of several components. The main components of this system are thermal mapping cameras and an application that makes indoor navigation more reliable and accurate. The whole system captures infrared signals to ensure correct navigation [33]. An alternative proposed solution is based on infrared light-emitting diodes (IR LEDs) and is suitable for generating periodic signals indoors. The drawback of this approach is that there has to be a \"line of sight (LoS)\" between the IR LEDs and the detectors. Moreover, it is a short-distance area communication technology. In [37], a \"portable mid-range positioning system\" using IR LEDs was developed for the visually impaired. The system consists of different types of methods: ultrasonic \"time of flight (ToF)\" and infrared intensity. The ultrasonic TIF structure consists of an ultrasonic sensor, beacon sensors, and infrared LED circuits. The receiver includes an ultrasonic, infrared, and geomagnetic sensor, as well as a signal processing module.