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Robotic sensing for the partially sighted., , , , and . Robotics Auton. Syst., 26 (2-3): 185-201 (1999)A stereo vision-based aid for the visually impaired., , , , and . Image Vis. Comput., 16 (4): 251-263 (1998)Modelling the motion of a sensor attached to a walking person., and . Robotics Auton. Syst., 34 (4): 203-221 (2001)Visual enhancement of incised text., , , , , and . Pattern Recognit., 36 (4): 1031-1043 (2003)Practical Structure and Motion from Stereo When Motion is Unconstrained., and . Int. J. Comput. Vis., 39 (1): 5-23 (2000)MonoSLAM: Real-Time Single Camera SLAM., , , and . IEEE Trans. Pattern Anal. Mach. Intell., 29 (6): 1052-1067 (2007)Locally Planar Patch Features for Real-Time Structure from Motion., , and . BMVC, page 1-10. BMVA Press, (2004)Computer vision as an aid for the visually impaired.. University of Oxford, UK, (1998)British Library, EThOS.