Tactile Map Automated Creation System to Enhance the Mobility of Blind Persons - Its Design Concept and Evaluation through Experiment. - Kazunori Minatani; Tetsuya Watanabe; Toshimitsu Yamaguchi; Ken Watanabe; Joji Akiyama; Manabi Miyagi; Susumu Oouchi (ICCHP (2), 2010)