For individuals with visual impairments, the absence of visual feedback can make everyday household activities more difficult and potentially unsafe, underscoring the need for assistive technologies that offer reliable spatial awareness and accessible forms of interaction. This thesis presents a mobile robotic assistive system designed to support visually impaired users in domestic environments. The system is deployed using the TRON1 robot operating in a wheeled configuration, which provides stable indoor mobility while maintaining an elevated, human-like sensing perspective well suited to household spaces. This embodiment allows the robot to observe and reason about the environment from viewpoints that closely reflect how people naturally interact with objects and rooms.