Blind and visually impaired people have to cope with the safe movement through public space and the (lack of) knowledge of spatial issues and walkable routes. These challenges often lead to a fear of accidents and collisions, frequently also of disorientation. This, in turn, can result in a reduced radius of action, restricted mobility, and later on, in social isolation. Against this background, the project TERRAIN aims at developing a technical guidance system for orientation and navigation in urban space. For the development of this assistance system, the project pursues an approach in which reflexive, responsive, and deliberative dimensions have been integrated to address the ethical, legal and social implications (ELSI) in a co-design process. This paper focuses on the participation of citizens independent of vision impairments in the project which provided a variety of relevant indications of impacts and potential technical adaptations from an ‘outer’ point of view. In addition, conclusions can be drawn about the existing desirability and acceptance of the technical solution among the potential users as well as their social environment of potential users. ... mehrIn addition, it turned out that the citizen participation process raised different expectations among the project partners. Therefore, this article evaluates the participation results from the perspective of the technology developers and the technology assessors.