People with visual impairment face daily struggle of navigating through unfamiliar places. This problem mainly caused by their lack of spatial awareness, i.e., the ability to estimate the distance between themselves and their surroundings. In order for visually impaired people to navigate independently, an effective navigation aid is required. The proposed navigation aid device utilizes depth camera to collect visual information of surrounding objects. Then, it represents the obtained visual data into stereophonic sound to notify the user directly through an audio device. The aid device is designed to be portable, comfortable, and easy to use. It can further be developed and upgraded to suit the needs of visually impaired users. Designed to be wearable, this proposed device was tested and received excellent score in portability, comfortability, and ease of use. The subjects were able to detect the position of obstacles in front of them with 92.47% accuracy, and could also estimate the distance of the object with Mean Absolute Error of 0.8. Examination on their navigation ability indicated that the subjects could stop before collision with an object and maneuvers through the gap between two parallel obstacles.