A computer implemented method for guiding traffic participants, especially pedestrians, especially visually impaired and blind people, especially for guiding in urban environments, between at least two places wherein the method contains the following steps: A. Providing a multi-modal three-dimensional map; B. Calculating a route based on the multi-modal three-dimensional map connecting the at least two places over at least one intermediate waypoint; C. Determining precise location of the traffic participant, preferably by using the multi-modal three-dimensional map; and D. Setting beacons along the path at the waypoints.