Sight Guide: A Wearable Assistive Perception and Navigation System for the Vision Assistance Race in the Cybathlon 2024

Patrick Pfreundschuh; Giovanni Cioffi; Cornelius von Einem; Alexander Wyss; Hans Wernher van de Venn; Cesar Cadena; Davide Scaramuzza; Roland Siegwart; Alireza Darvishy

arXiv · 2506.02676

Sight Guide: A Wearable Assistive Perception and Navigation System for the Vision Assistance Race in the Cybathlon 2024

Patrick Pfreundschuh·Giovanni Cioffi·Cornelius von Einem·Alexander Wyss·Hans Wernher van de Venn·Cesar Cadena·Davide Scaramuzza·Roland Siegwart·Alireza Darvishy

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Abstract

Visually impaired individuals face significant challenges navigating and interacting with unknown situations, particularly in tasks requiring spatial awareness and semantic scene understanding. To accelerate the development and evaluate the state of technologies that enable visually impaired people to solve these tasks, the Vision Assistance Race (VIS) at the Cybathlon 2024 competition was organized. In this work, we present Sight Guide, a wearable assistive system designed for the VIS. The system processes data from multiple RGB and depth cameras on an embedded computer that guides the user through complex, real-world-inspired tasks using vibration signals and audio commands. Our software architecture integrates classical robotics algorithms with learning-based approaches to enable capabilities such as obstacle avoidance, object detection, optical character recognition, and touchscreen interaction. In a testing environment, Sight Guide achieved a 95.7% task success rate, and further demonstrated its effectiveness during the Cybathlon competition. This work provides detailed insights into the system design, evaluation results, and lessons learned, and outlines directions towards a broader real-world applicability.

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Patrick Pfreundschuh, Giovanni Cioffi, Cornelius von Einem, Alexander Wyss, Hans Wernher van de Venn, Cesar Cadena, Davide Scaramuzza, Roland Siegwart, Alireza Darvishy. 2025-06-03. Sight Guide: A Wearable Assistive Perception and Navigation System for the Vision Assistance Race in the Cybathlon 2024. https://arxiv.org/abs/2506.02676

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