HeritageLens is an interactive system designed to support inclusive, curiosity-driven engagement with cultural content in public installations such as museum kiosks. It features a visually rich, non-linear interface that enables users to navigate museum rooms, object collections, and outdoor cultural routes by interacting with thematic image tiles and detailed visuals—like room photos or route maps—augmented with points of interest presented as markers or animated cutouts that signal interactivity. Accessibility is central to the system’s design; a custom-built tactile controller allows for sequential navigation, while the interface dynamically restructures into scannable clusters enhanced with text-to-speech and audio descriptions to support diverse user needs. Developed through an inclusive, iterative design process, HeritageLens uses a modular Angular frontend that supports a range of deployment configurations to accommodate different use cases.