Method for assisting a person in operating in a dynamic environment, the method comprising steps of acquiring sensor data comprising a time sequence of at least two consecutive images of the dynamic environment from at least one sensor, calculating optical flow based on the at least two consecutive images, to generate an optical flow vector field comprising at least one expansion point determining, based on the optical flow, feature scores to generate a feature score field in image space, wherein the determined feature scores comprise first information on at least one expansion rate around the at least one expansion point in the optical flow vector field, generating an output signal including directional stimulus information based on the generated feature score field, wherein generating the output signal comprises mapping the at least one expansion point onto a stimulus location in an egocentric reference frame for communicating at least one location or at least one direction of the at least one expansion point relative to at least one location of observation of the at least one sensor and mapping the feature score field to the ego-centric reference frame of the assisted person to generate a correspondence between the stimulus location as perceived by the assisted person and an actual spatial feature location and feature direction, wherein the assisted person perceives a stimulus issued at the stimulus location at a sensitive region of the body of the assisted person, and wherein the output signal further communicates the at least one expansion rate around the at least one expansion point using at least one stimulus parameter including at least one of a a stimulus frequency and a stimulus intensity, and providing the output signal to a plurality of actuators configured to signal the directional stimulus information in the ego-centric reference frame to the assisted person, and signaling, controlled by the output signal, the directional stimulus information to the person by the plurality of actuators. acquiring sensor data comprising a time sequence of at least two consecutive images of the dynamic environment from at least one sensor, calculating optical flow based on the at least two consecutive images, to generate an optical flow vector field comprising at least one expansion point determining, based on the optical flow, feature scores to generate a feature score field in image space, wherein the determined feature scores comprise first information on at least one expansion rate around the at least one expansion point in the optical flow vector field, generating an output signal including directional stimulus information based on the generated feature score field, wherein generating the output signal comprises mapping the at least one expansion point onto a stimulus location in an egocentric reference frame for communicating at least one location or at least one direction of the at least one expansion point relative to at least one location of observation of the at least one sensor and mapping the feature score field to the ego-centric reference frame of the assisted person to generate a correspondence between the stimulus location as perceived by the assisted person and an actual spatial feature location and feature direction, wherein the assisted person perceives a stimulus issued at the stimulus location at a sensitive region of the body of the assisted person, and wherein the output signal further communicates the at least one expansion rate around the at least one expansion point using at least one stimulus parameter including at least one of a a stimulus frequency and a stimulus intensity, and providing the output signal to a plurality of actuators configured to signal the directional stimulus information in the ego-centric reference frame to the assisted person, and signaling, controlled by the output signal, the directional stimulus information to the person by the plurality of actuators.