The inclusive use of urban spaces necessitates detailed knowledge of the accessibility of public buildings or places where educational, health or administrative services are provided. Despite the improvements already made in many cities regarding architectural work, further changes to public buildings and other spaces, such as old buildings or areas of historical importance, are still required. To study this problem, we developed a model based on photogrammetric techniques and the use of inertial and optical sensors. The model allowed us to perform a detailed analysis of urban routes in the surroundings of an administrative building, by means of mathematical analysis of pedestrian routes. It was applied to the specific case of people with reduced mobility and included analysis of the building accessibility as well as detection of suitable transit routes, deterioration of the road surfaces and the presence of architectural obstacles on the route.