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We present a robot-assisted wayfinding system for the visually impaired in structured indoor environments. The system consists of a mobile robotic guide and small passive RFID sensors embedded in the environment. The system is intended for use in indoor environments, such as office buildings, supermarkets and airports. We describe how the system was deployed in two indoor environments and evaluated by visually impaired participants in a series of pilot experiments. We analyze the system'sdoi:10.1007/s10514-006-7223-8 fatcat:zkacezy74zfztdlfw3cuvp3aua