HAVEN App

Real-time iPhone LiDAR mapping with local-network visualization and haptic guidance for supplemental assistive navigation

Note: LiDAR supported iPhone required(iPhone 12 pro/ pro max, 13 pro/ pro max, 14 pro/pro max, 15 pro/pro max, 16 pro/pro max, 17 pro/pro max)

HAVEN is a prototype assistive navigation app that uses supported iPhone camera and LiDAR sensing to help visualize nearby space and generate directional guidance through wearable haptic feedback.

Designed as a supplemental navigation aid, HAVEN combines real-time spatial mapping, local path planning, Bluetooth haptic output, and optional local-network visualization. The app uses ARKit-based environment sensing to identify nearby surfaces, obstacles, walkable space, and navigation cues, then translates path direction into five-channel haptic feedback values for connected wearable hardware.

HAVEN is intended for research, demonstration, and assistive technology development. It is not a replacement for a white cane, guide dog, caregiver, or professional orientation and mobility training.

Key Features

• Real-time iPhone camera and LiDAR-based spatial mapping • ARKit scene reconstruction and local environment visualization • 2D occupancy map showing detected walkable areas, obstacles, doors, user position, and planned path • Path guidance using straight-line routing with A* fallback • Five-channel haptic feedback support for connected wearable hardware • Bluetooth communication for sending directional vibration commands • Local-network streaming for viewing live AR mesh and camera-position data on a nearby viewer device • On-screen haptic indicator for testing without external hardware • Special haptic patterns for door detection and no-path situations

Privacy and Data:

HAVEN processes camera, LiDAR, and spatial mapping data to provide navigation guidance. The app may stream live AR mesh and camera-position data to a nearby viewer device over the user’s local network for visualization and testing. HAVEN does not upload camera, LiDAR, AR mesh, or navigation data to cloud servers.

Important Safety Notice:

HAVEN is a supplemental assistive navigation tool. Users should not rely on HAVEN as their sole method of navigation or obstacle avoidance. Always use HAVEN alongside established mobility aids and safe navigation practices.