Dorian Gálvez-López

arXiv2026

NaviNote: Enabling In-situ Spatial Annotation Authoring to Support Exploration and Navigation for Blind and Low Vision People

GPS and smartphones enable users to place location-based annotations, capturing rich environmental context. Previous research demonstrates that blind and low vision (BLV) people can use annotations to explore unfamiliar areas. However, current commercial systems allowing BLV users to create annotations have never been evaluated, and current GPS-based systems can deviate several meters. Motivated by high-accuracy visual positioning technology, we first conducted a formative study with 24 BLV participants to envision a more accurate and inclusive annotation system. Surprisingly, many participants viewed the high-accuracy technology not just as an annotation system but also as a tool for precise last-few-meters navigation. Guided by participant feedback, we developed NaviNote, which combines vision-based high-precision localization with an agentic architecture to enable voice-based annotation authoring and navigation. Evaluating NaviNote with 18 BLV participants showed that it significantly improved navigation performance and supported users in understanding and annotating their surroundings. Based on these findings, we discuss design considerations for future accessible annotation authoring systems.

cs.HC↗

arXiv2015

Real-time Monocular Object SLAM

We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that exploits object rigidity constraints to improve the map and find its real scale, and 2) a novel object recognition algorithm based on bags of binary words, which provides live detections with a database of 500 3D objects. The two components work together and benefit each other: the SLAM algorithm accumulates information from the observations of the objects, anchors object features to especial map landmarks and sets constrains on the optimization. At the same time, objects partially or fully located within the map are used as a prior to guide the recognition algorithm, achieving higher recall. We evaluate our proposal on five real environments showing improvements on the accuracy of the map and efficiency with respect to other state-of-the-art techniques.

cs.RO↗