@article{sato2019navcog3,
  title={NavCog3: Large-Scale Blind Indoor Navigation Assistant with Semantic Features in the Wild},
  author={Sato, Daisuke and Oh, Uran and Guerreiro, Jo\~ao and {Ahmetovic},{Dragan} and Naito,  Kakuya and Takagi, Hironobu and Kitani, Kris M. and Asakawa, Chieko},
  journal={Transactions on Accessible Computing},
  year={2019},
  issn = {1936-7228},
  doi = "10.1145/3340319",
  publisher={ACM}
}