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The virtual white cane is a range sensing device based on active triangulation, that can measure distances at a rate of 15 measurements/second. A blind person can use this device for sensing the environment, pointing it as if it was a flashlight. Beside measuring distances, this device can detect surface discontinuities, such as the foot of a wall, a step, or a drop-off. This is obtained by analyzing the range data collected as the user swings the device around, tracking planar patches anddoi:10.1109/cvpr.2005.136 dblp:conf/cvpr/YuanM05 fatcat:gzbfu7rw65hchm5tkk5bpkrgce