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Navigation assistance systems (NASs) aim to help visually impaired people(VIPs) navigate unfamiliar environments. Most of today's NASs support VIPs viaturn-by-turn navigation, but a growing body of work highlights the importanceof exploration as well. It is unclear, however, how NASs should be designed tohelp VIPs explore unfamiliar environments. In this paper, we perform aqualitative study to understand VIPs' information needs and challenges withrespect to exploring unfamiliar environments, with the aim of informing thedesign of NASs that support exploration. Our findings reveal the types ofspatial information that VIPs need as well as factors that affect VIPs'information preferences. We also discover specific challenges that VIPs facethat future NASs can address such as orientation and mobility education andcollaborating effectively with others. We present design implications for NASsthat support exploration, and we identify specific research opportunities anddiscuss open socio-technical challenges for making such NASs possible. Weconclude by reflecting on our study procedure to inform future approaches inresearch on ethical considerations that may be adopted while interacting withthe broader VIP community.

"I Want to Figure Things Out": Supporting Exploration in Navigation for People with Visual Impairments