that detecting bump and especially potholes are either not considered at all or up-to some
limited extent and have focused on detecting obstacles, which are in front of the user ignoring
the fact that walking on uneven surfaces, which consists of bumps and potholes may be
extremely dangerous as they are hard to … In our work, we have focused on detecting potholes
and bumps with an algorithm discussed in detail in Section 4.4, to restrict the user to orient the …