One must begin by entering the city name (Pesquise pela cidade) and then filtering the search by a specific impairment. The result will be restaurants, hotel, show clubs, car rental spots, public spaces which feature special accessibility resources. Though not complete yet, bear in mind Brazilian people in general are very accessible, and one might eventually find help when less expected. Also, our legislation about accessibility dates back as far as the year 2000. (accessibility legislation) There´s zillions to be done yet, though.
A blog with focus on the World Cup accessibility and the forthcoming Olympic Games (in Portuguese)
Updated tourism information (in Portuguese)