A method and device for guiding a blind or visually impaired person are provided herein. The method includes the following stages: emitting one or more Infra Red (IR) light beams (110, 340) into a scene that contains objects (20, 50), each beam (110, 340) is associated with a unique direction and further creates an IR light spot (120) on an object (20, 50) facing the light beam (110, 340) converting one or more direct IR reflections from the one or more spots (120), each associated with a unique direction, into respective electrical signals representative of a distance from the one or more spots respectively producing, for each IR reflection and based on the respective electrical signals and a respective conversion key, a sensual signal comprising an auditory and/or vibratory signal, representative of the distance from the one or more spots respectively and presenting a combination of the sensual signals, such that each sensual signal associated with a unique direction is auditorily or tactilely distinguishable.
