  For people who ardently love painting but unfortunately have visual
impairments, holding a paintbrush to create a work is a very difficult task.
People in this special group are eager to pick up the paintbrush, like Leonardo
da Vinci, to create and make full use of their own talents. Therefore, to
maximally bridge this gap, we propose a painting navigation system to assist
blind people in painting and artistic creation. The proposed system is composed
of cognitive system and guidance system. The system adopts drawing board
positioning based on QR code, brush navigation based on target detection and
bush real-time positioning. Meanwhile, this paper uses human-computer
interaction on the basis of voice and a simple but efficient position
information coding rule. In addition, we design a criterion to efficiently
judge whether the brush reaches the target or not. According to the
experimental results, the thermal curves extracted from the faces of testers
show that it is relatively well accepted by blindfolded and even blind testers.
With the prompt frequency of 1s, the painting navigation system performs best
with the completion degree of 89% with SD of 8.37% and overflow degree of 347%
with SD of 162.14%. Meanwhile, the excellent and good types of brush tip
trajectory account for 74%, and the relative movement distance is 4.21 with SD
of 2.51. This work demonstrates that it is practicable for the blind people to
feel the world through the brush in their hands. In the future, we plan to
deploy Angle's Eyes on the phone to make it more portable. The demo video of
the proposed painting navigation system is available at:
https://doi.org/10.6084/m9.figshare.9760004.v1.
