The mostly adopted pedestrian or cyclist navigation systems are derived from car navigation systems, where the pedestrian is "a car with no wheels, and two feet instead".
This gives a bias from the start, and short-cuts between buildings are rarely considered. The criteria of relatively cleaner air on a path, or more enjoyable sights which may matter to the pedestrian individual are not taken into account.
The minimal path search assumed as optimal may not be the choice which individuals would make, given the opportunity: using the walk to reinforce fitness and exercise (voluntary stairs climb, etc).
The urban versus natural segments may not be considered either among valid options, one would like to be offered.
What would be your criteria for a pedestrian navigation system?