Venus rises heliacaly when reaching arcus visionis between 5.3
and 6.0 degrees.
(Arcus visionis is the altitude of the Sun below horizon when
Venus is exactly on the horizon).
Because Venus is bright and its brightness is stable, the
heliacal rise of Venus can be computed easily. Something that
cannot be said for the other planets and stars. The last systematic
(and published) observations of heliacal risings were made 2000
years ago in Mesopotamia!
There are several theoretical algorithms for computing the
heliacal phenomena, but none of them is reliable because of the
lack of observations.
This is soon to be changed.
More on the heliacal phenomena, their computation and real
first-hand observations can be found by clicking the 'Related link'
below.