US Patent 9285227 Creating routing paths in maps

A digital map having a routing path is created. Points in at least a majority of a linear length of the path may be constrained so that they are disposed substantially equidistant between structural features that are bounding navigable spaces in a structure. The creating of the path may include selecting a connected component corresponding to some or all of the navigable spaces. A morphological process may be performed on the connected component to create the path.