I'm writing this in the forlorn hope that someone has already done something similar. I would have posted on drupal.org - but that site is about as user-friendly as a kick in the tomatoes.
I don't know about you, but when I develop I leave all my Drupal paths with open access, and then think about locking them down with access permissions at the end.
What would be be really useful is a module which parses all the paths available (by basically deconstructing the contents of the menu_router table) and then trying them (curl?) in turn whilst logged-in as a given user with a given set of roles.
The output would be a simple html page saying which paths are accessible and which are not.
I'm almost resigned to doing this myself, but if anyone knows of anything vaguely similar I'd be more than grateful to hear about it.
Cheers
UPDATE
Following a great idea from Yorirou, I knocked together a simple module to provide the output I was looking for.
You can get the code here: http://github.com/hymanroth/Path-Lockdown