Abstract: In accordance with implementations of the subject matter described herein, a new approach for creating a navigation trace is proposed. In these implementations, a reference signal is obtained, where the reference signal includes time series data collected by at least one environment sensor along a reference path from a start point to a destination. Then, a navigation trace is created for the reference path based on the obtained reference signal, where magnitudes at locations of the navigation trace reflect measurements collected by the at least one environment sensor at respective time points of the reference signal. In accordance with implementations of the subject matter described herein, a new approach for generating a navigation instruction from a navigation trace.