A computer-implemented system and method distilling three-dimensional structure to a two-dimensional raster with multiple discrete planes for purposes of safe and accurate route planning including a map generator (100), pixel encoder (102), map transformer (106), and route generator (108). The map generator (100) generates a raster map by populating a blank map canvas with raster and vector data on a per-pixel basis and obtains values for pixels from the pixel encoder (102). The pixel encoder (102) encodes type, plane, and elevator information of features into pixels. The map transformer (106) converts the map produced by the map generator (100) into a weighted graph of nodes and edges suitable for route generation. The route generator (108) generates routes using the graph produced by the map transformer (106).