Usage of the traditional white cane by the elderly with vision impairment is inefficient as many are also reliant on ambulatory aids such as wheelchairs and walking frames. The fall occurrence when using ambulatory aids is higher, contributed by non-protruding hazards such as potholes and drop-offs. Currently available technology for blind navigation, predominantly based on proximity sensing, is not designed to detect non protruding hazards. We address this critical need by developing a new optical laser system that combines innovative approaches in optical laser projection, vision-sensing, pattern recognition, and machine learning. Here, we present an overview of the system, including a new feature descriptor termed Histogram of Intersections, and results from our proof-of-concept demonstration.