In recent decades, several assistive technologies for visually impaired and blind (VIB) people have been developed to improve their ability to navigate independently and safely. At the same time, simultaneous localization and mapping (SLAM) techniques have become sufficiently robust and efficient to be adopted in the development of assistive technologies. In this paper, we first report the results of an anonymous survey conducted with VIB people to understand their experience and needs; we focus on digital assistive technologies that help them with indoor and outdoor navigation. Then, we present a literature review of assistive technologies based on SLAM. We discuss proposed approaches and indicate their pros and cons. We conclude by presenting future opportunities and challenges in this domain.

本文使用最佳运输理论介绍了贝叶法律的各种表示。差异表示是根据（状态，观察）及其独立耦合之间的最佳运输。通过将某些结构施加在传输图上，用于变异问题的解决方案用于构建一个将先前分布传输到观测信号的任何值的Brenier型图。新的公式用于用于离散时间过滤问题的集合卡尔曼滤波器（ENKF）的最佳传输形式，并使用输入凸神经网络提出了ENKF向非高斯设置的新型扩展。最后，所提出的方法用于在连续时限内得出反馈粒子填充物（FPF）的最佳运输形式，该形式构成了其第一个变化构建，而无需明确使用非线性滤波方程或贝叶斯定律。