A head-mounted computing device for providing navigation assistance to a user in an environment via audio output, the head-mounted computing device comprising: one or more depth sensors for generating depth image data from the environment; one or more visible light sensors for generating visible image data from the environment; one or more transducers; and a navigation module executed by a processor of the head-mounted computing device, the navigation module comprising a familiar navigation mode in which navigation assistance is tailored to account for the user's familiarity with their surroundings and an unfamiliar navigation mode in which navigation assistance is tailored to account for the user's unfamiliarity with their surroundings, the navigation module configured to: using the depth image data and visible image data, generate a three-dimensional mesh of at least a portion of the environment; using machine learning techniques, determine whether the user has previously visited the environment; in response to determining the user has previously visited the environment at least a predetermined number of times, operate in the familiar navigation mode; using the three-dimensional mesh, detect at least one feature in the environment; when operating in the familiar navigation mode and based on detecting the feature, output a first audio navigation cue of the environment to the user via the one or more transducers; and when operating in the unfamiliar navigation mode and based on detecting the feature, output a second audio navigation cue of the environment to the user via the one or more transducers, wherein the second audio navigation cue differs from the first audio navigation cue. one or more depth sensors for generating depth image data from the environment; one or more visible light sensors for generating visible image data from the environment; one or more transducers; and a navigation module executed by a processor of the head-mounted computing device, the navigation module comprising a familiar navigation mode in which navigation assistance is tailored to account for the user's familiarity with their surroundings and an unfamiliar navigation mode in which navigation assistance is tailored to account for the user's unfamiliarity with their surroundings, the navigation module configured to: using the depth image data and visible image data, generate a three-dimensional mesh of at least a portion of the environment; using machine learning techniques, determine whether the user has previously visited the environment; in response to determining the user has previously visited the environment at least a predetermined number of times, operate in the familiar navigation mode; using the three-dimensional mesh, detect at least one feature in the environment; when operating in the familiar navigation mode and based on detecting the feature, output a first audio navigation cue of the environment to the user via the one or more transducers; and when operating in the unfamiliar navigation mode and based on detecting the feature, output a second audio navigation cue of the environment to the user via the one or more transducers, wherein the second audio navigation cue differs from the first audio navigation cue. using the depth image data and visible image data, generate a three-dimensional mesh of at least a portion of the environment; using machine learning techniques, determine whether the user has previously visited the environment; in response to determining the user has previously visited the environment at least a predetermined number of times, operate in the familiar navigation mode; using the three-dimensional mesh, detect at least one feature in the environment; when operating in the familiar navigation mode and based on detecting the feature, output a first audio navigation cue of the environment to the user via the one or more transducers; and when operating in the unfamiliar navigation mode and based on detecting the feature, output a second audio navigation cue of the environment to the user via the one or more transducers, wherein the second audio navigation cue differs from the first audio navigation cue.