Abstract: A wayfinding and obstacle avoidance system for assisting the visually impaired with wayfinding and obstacle avoidance. The wayfinding and obstacle avoidance system generally includes a processor, a memory, which stores program instructions, and potentially an area map. The wayfinding device is generally configured to receive pose data and depth data from a provider in order to determine the position of one or more objects within the field of view of the wayfinding device. This determination is usually made using interpreters, that may include a memoryless interpreter, a persistent interpreter, and a system interpreter. Interpreters will generally provide this information to a user via one or more presenters. This feedback may include, but is not limited to visual feedback, audio feedback, and haptic feedback.