Reaching surrounding target objects is difficult for blind and low-vision (BLV) users, affecting their daily life. Based on interviews and exchanges, we propose an unobtrusive wearable system called LiSee to provide BLV users with all-day assistance. Following a user-centered design method, we carefully designed the LiSee prototype, which integrates various electronic components and is disguised as a neckband headphone such that it is an extension of the existing headphone. The top-level software includes a series of seamless image processing algorithms to solve the challenges brought by the unconstrained wearable form so as to ensure excellent real-time performance. Moreover, users are provided with a personalized guidance scheme so that they can use LiSee quickly based on their personal expertise. Finally, a system evaluation and a user study were completed in the laboratory and participants' homes. The results show that LiSee works robustly, indicating that it can meet the daily needs of most participants to reach surrounding objects.