Hong Kong UrbanNav: An open-source multisensory dataset for benchmarking urban navigation algorithms

Hsu, L. T., Huang, F., Ng, H. F., Zhang, G., Zhong, Y., Bai, X., Wen, W.

NAVIGATION: Journal of the Institute of Navigation (2023)

Key idea. A high-quality open-source multi-sensor dataset (GNSS, LiDAR, camera, IMU) captured in Hong Kong’s deep urban canyons, with accurate ground truth — purpose-built for benchmarking urban navigation algorithms.

Impact. UrbanNav has become a widely used community benchmark for urban GNSS and sensor-fusion research, lowering the barrier for groups worldwide to test in genuinely challenging conditions. Community-facing infrastructure, not just a paper.