Abstract: The lacking of indoor walking networks is an essential bottleneck for indoor navigation. The floorplan of indoor environments can represent the structural information of indoor space, is a potential data source for the generation of indoor walking networks. However, the lacking of topology information limits the usage of floorplan for indoor route planning and guidance. This study proposed a data model for indoor navigation, which can model the indoor walking environment, the visibility of indoor landmarks, and the relation between indoor and outdoor walking space. Based on the data model, this study also developed a multi-object model for indoor pedestrian route planning. Result showed that the time used for constructing indoor walking networks and route planning based on the proposed method is quite low. Compared to the shortest route, the optimized route has better landmark visibility and coverage.