Frikha, Jihen, et al. “Indoor/Outdoor/Navigation/System/Based/on/Possibilistic/Traversable/Area/Segmentation/for/Visually/Impaired/People”. ELCVIA Electronic Letters on Computer Vision and Image Analysis, vol. 15, no. 1, Aug. 2016, pp. 60-76, doi:10.5565/rev/elcvia.818.