## 5 Experimental Results
The test for the visually impaired participant was conducted in an indoor desktop environment, whereas the normal participants performed the test while walking on actual roads. Figure 11 shows scenes of the experiment for each participant. All participants used our system with the assistance of a helper. Before the experiment, a brief description of the system was provided to the users to understand the experimental steps. The results were confirmed through usability scores and feedback from participants after the experiment. Scores were out of five, with higher scores indicating better usability of the proposed system. Table 13 lists the obtained experimental results. The pilot test results indicated an average usability score of 4.05. While the participants expressed some dissatisfaction with the notification conveying time and online implementation, they highly praised the system for its ability to detect objects from a distance and its accuracy. In particular, the participants praised the system's ability to convey sentences that described the visual context of detected objects rather than simply conveying the presence of an obstacle or a warning sound. The visually impaired participant noted that compared to the visual impairment assistance app they were currently using, the proposed system pro \begin{table}
\begin{tabular}{c c c} \hline \hline
**User Type** & **Score** & **Review** \\ \hline \multirow{4}{*}{Visually Impaired} & \multirow{4}{*}{4.0} & It was nice to receive accurate recognition and notification. Compared to previously provided apps, the system could recognize structures from afar and deliver accurate notifications about structures in sentences, enabling understanding of complex walking situations rather than simple word notifications. However, it would be good if it could be implemented even in offline situations and if the voice type could be changed during voice transmission. \\ \hline \multirow{2}{*}{General Public A} & \multirow{2}{*}{4.1} & I liked that object recognition was smooth even when there was a distance, so even when crossing a crosswalk, you could immediately tell there was a ballard in front of you. \\ \hline \multirow{2}{*}{General Public B} & \multirow{2}{*}{3.9} & It was disappointing that it took a while for a notification to appear after recognizing an object. However, it was good that obstacle recognition was accurate, reducing the risk of unexpected accidents. \\ \hline \multirow{2}{*}{General Public C} & \multirow{2}{*}{4.2} & I felt that the fact that it recognizes obstacles well and provides accurate notifications to users and that it provides warning notifications before approaching an object would bring convenience to users and prevent accidents. \\ \hline \hline \end{tabular}
\end{table} 
Table 13: Result of usability evaluation. Figure 11: Scenes of the experiment: (**a**) visually impaired and (**b**) general public. vided faster notifications and helped them quickly understand complex walking situations through voice that described the walking scenarios in sentences. These reviews confirm that the proposed system can provide accurate notifications to users and demonstrate its applicability in real walking situations.