Assistive Smart, Structured 3D Environmental Information for the Visually Impaired and Blind: Leveraging the INSPEX Concept - Suzanne Lesecq; Olivier Debicki; Laurent Ouvry; Christian Fabre; Nicolas Mareau; Julie Foucault; Francois Birot; Loic Sevrin; Steve Buckley; Carl Jackson; John Barrett; Alan McGibney; et al. (Annals of computer science and information systems, 2018)