UrbanNav

UrbanNav is an open-source multisensory dataset collected in dense urban environments in Hong Kong. It includes GNSS raw measurements, IMU data, LiDAR point clouds, and camera images from multiple challenging urban scenarios.

The dataset enables benchmarking of urban navigation algorithms and has become a widely cited resource in the positioning and navigation community.

Key features:

• Multiple data collection campaigns in Hong Kong urban canyons
• GNSS raw measurements from multiple receivers
• Integrated IMU, LiDAR, and camera data
• Ground truth trajectories
• Open access under MIT license