  To help the blind people walk to the destination efficiently and safely in
indoor environment, a novel wearable navigation device is presented in this
paper. The locating, way-finding, route following and obstacle avoiding modules
are the essential components in a navigation system, while it remains a
challenging task to consider obstacle avoiding during route following, as the
indoor environment is complex, changeable and possibly with dynamic objects. To
address this issue, we propose a novel scheme which utilizes a dynamic sub-goal
selecting strategy to guide the users to the destination and help them bypass
obstacles at the same time. This scheme serves as the key component of a
complete navigation system deployed on a pair of wearable optical see-through
glasses for the ease of use of blind people's daily walks. The proposed
navigation device has been tested on a collection of individuals and proved to
be effective on indoor navigation tasks. The sensors embedded are of low cost,
small volume and easy integration, making it possible for the glasses to be
widely used as a wearable consumer device.
