Several studies report that older adults with glaucoma experience mobility issues due to ambulation difficulties, including walking slowly and bumping into obstacles, which increase the risk of falls. Foot clearance, the vertical height of the swing foot above the ground, is a critical factor in falling; however, it has not been well studied in glaucoma. In this work, we utilize our previously developed smart insole platform, innovative sensing insoles that integrate wearable sensors into a robust yet flexible form factor, enabling precise measurement of the foot’s biomechanics. We also develop and validate computational algorithms for the sensing insoles to accurately derive foot clearance parameters such as maximum heel clearance and minimum toe clearance. We conduct a pilot study involving five glaucoma patients with advanced bilateral visual field loss and five age-matched healthy controls. Participants complete walking trials in real-world outdoor environments while wearing the sensing insoles. Glaucoma patients exhibit significantly greater variability in foot clearance metrics compared to controls, with the coefficient of variation for minimum toe clearance being 37% in glaucoma patients versus 21% in controls, suggesting cautious ambulation adaptations that may reflect instability in swing-foot control. The study demonstrates the feasibility of using the smart insole platform to assess foot clearance in natural settings. In future work, this approach may guide targeted interventions, such as real-time foot clearance biofeedback, to help stabilize ambulation and reduce fall risk in glaucoma patients.