A navigation system, method and computer program product are provided to provide navigational assistance at a venue. The navigation system is configured to obtain information regarding the venue to be navigated by a user including a plurality of waypoints at the venue. The navigation system is also configured to determine a time to be expended by the user between respective pairs of the waypoints at the venue. Based on the time and a rate of travel of the user, the navigation system is configured to determine one or more points of interest that are accessible by the user between at least one pair of waypoints. The navigation system is further configured to cause presentation of a representation of the venue including the plurality of waypoints and the one or more points of interest that are accessible by the user between the at least one pair of waypoints.