Sidewalk construction, lampposts and tree branches, poorly parked vehicles, scooters, pedestrians distracted by their phones, crowds during rush hour... These are just a few examples of the challenges and dangers faced by blind and visually impaired individuals when navigating the city. Our GlobalViewAid project aims to enhance the autonomy and safety of these individuals in urban environments by developing a navigation aid tool that complements the information provided by their white cane. While the white cane is an essential and invaluable tool, it has its limitations. The navigation system we are developing is designed to help detect obstacles, avoid them safely, and find the best route.