In recent years, with increasing utilization of mobile devices such as smartphones, the need for PNS(Pedestrian Navigation Systems) that provide guidance for moving pedestrians is increasing. For the navigation services, road network is the most important component when it comes to creating route and guidance information. In particular, pedestrian network requires modeling methods for more detailed and vast space compared to road network. Therefore, more efficient method is needed to establish pedestrian network that was constructed by existing field survey and manual editing process. This research proposed a pedestrian network creation method appropriate for pedestrians, based on CNS(Car Navigation Systems) data that already has been broadly constructed. Pedestrian network was classified into pedestrian link(sidewalk, side street, walking facility) and openspace link depending on characteristics of walking space, and constructed by applying different methodologies in order to create path that similar to the movements of actual pedestrians. The proposed algorithm is expected to become an alternative for reducing the time and cost of pedestrian network creation.