As pedestrians, we each experience the built environment differently. Our physical abilities greatly impact our access to the world and resources around us. Equitable pedestrian wayfinding is crucial for a barrier-free city, where people with different abilities can independently access customized, relevant, and up-to-date routing information. Pedestrians present heterogeneous information requirements consisting of static and transient information ranging from elevation changes to curb ramps to transient sidewalk surface conditions. However, such data, including the location of sidewalks, are generally unavailable in a user-consumable format. Moreover, existing routing solutions primarily optimize for distance, for instance, offering inappropriate routes with steep inclines that are unusable by many manual wheelchair users. A data model for equitable pedestrian wayfinding must flexibly support an annotated pedestrian network: a connected graph model that can be visualized and populated with data to parametrize a personalizable cost function. In this talk, we will present the current AccessMap capabilities (and discuss those in progress) that enable ability-based pedestrian routing.