We are proposed a location estimation method only using a camera that supports walking out of visually impaired people. Visually impaired people plan a walking route to the destination before goes out, and estimates its location based on the mental map built in his/her head. We consider two information to be presented by the navigator to support going out alone. 1) surrounding landmark information that are necessary for estimating own location. 2) traveling direction information for arriving at the destination. In order to present these information, it is necessary to estimate the walker’s traveling direction. So we integrate a method called pedestrian dead reckoning (PDR) that can estimate walker’s relative movement to our camera based location estimation method. In addition, we will consider an audio notification method for navigation using three dimensional sound presentation.