Theme	Insight	Design Implication
Information needs	I1: VIPs need two types of spatial information: shape information and layout information, to get a high-level overview of a space.	NASs should help VIPs gather shape and layout information in a manner that facilitates active engagement with the environment.
Factors influencing information needs	I2: VIPs' preferred format, source, and amount of spatial information support vary between individuals depending upon their onset of vision impairment, their inherent sociability, and their O&M proficiency and mobility aid preference, respectively.	NASs should collect spatial information in a manner that allows VIPs to customize its display along the three dimensions of format, source, and amount of spatial information support.
Independent exploration	I3: VIPs face difficulties in making navigation decisions based on spatial information collected via their nonvisual senses.	NASs should afford VIPs precise and reliable spatial information and should ensure that VIPs make accurate navigation decisions based on this information.
	I4: VIPs face difficulties in acquiring appropriate O&M training and maintaining their O&M skills, negatively impacting their confidence to explore independently	NASs can serve as an O&M education assistance tool to give VIPs the confidence to explore unfamiliar environments independently
Collaborative exploration	I5: Social pressures pose a major challenge to VIPs receiving help and to non-VIPs providing help when exploring environments collaboratively.	NASs should normalize VIPs' exploration behaviors by introducing social norms for exploration assistance.
	I6: VIPs want verbal assistance in a comprehensible format when exploring collaboratively but find it challenging to communicate this preference to others.	NASs should scaffold and facilitate collaborative exploration by distributing requests for collaboration and performing translations when needed.