Assistive device for non-visually discerning a three-dimensional (3d) real-world area surrounding a user

An assistive device, comprising:

• a haptic feedback interface comprising a plurality of haptic elements;
• a first circuitry configured to receive sensor data of a three-dimensional (3D) real-world area within a first proximity range of the assistive device from a plurality of different types of sensors that are communicatively coupled to the assistive device, wherein the sensor data is associated with the first proximity range of the assistive device;
• a second circuitry configured to:
• determine a plurality of objects within the first proximity range based on the received sensor data;
• receive an input to select a mode from a plurality of defined modes in the assistive device;
• based on the selected mode, the second circuitry is further configured to determine each of the plurality of objects as a relevant object or a non-relevant object to obtain a set of relevant objects and a set of non-relevant objects;
• determine a scaling factor based on the first proximity range and the selected mode;
• adjust sizes of the set of relevant objects to map the set of relevant objects with a set of haptic elements of the plurality of haptic elements of the haptic feedback interface, wherein the sizes of the set of relevant objects are adjusted based on the scaling factor and a count of the set of the relevant objects;
• and
• a haptic feedback generator configured to generate a touch-discernible feedback on the haptic feedback interface based on the mapping of the set of relevant objects in the adjusted sizes with the set of haptic elements.