Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation Algorithms Article Swipe
Li‐Ta Hsu
,
Feng Huang
,
Hoi‐Fung Ng
,
Guohao Zhang
,
Yihan Zhong
,
Xiwei Bai
,
Weisong Wen
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.33012/navi.602
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.33012/navi.602
Accurate positioning in urban canyons remains a challenging problem. To facilitate the research and development of reliable and precise positioning methods using multiple sensors in urban canyons, we built a multisensory dataset, UrbanNav, collected in diverse, challenging urban scenarios in Hong Kong. The dataset provides multi-sensor data, including data from multi-frequency global navigation satellite system (GNSS) receivers, an inertial measurement unit (IMU), multiple light detection and ranging (lidar) units, and cameras. Meanwhile, the ground truth of the positioning (with centimeter-level accuracy) is postprocessed by commercial software from NovAtel using an integrated GNSS real-time kinematic and fiber optics gyroscope inertial system. In this paper, the sensor systems, spatial and temporal calibration, data formats, and scenario descriptions are presented in detail. Meanwhile, the benchmark performance of several existing positioning methods is provided as a baseline. Based on the evaluations, we conclude that GNSS can provide satisfactory results in a middle-class urban canyon if an appropriate receiver and algorithms are applied. Both visual and lidar odometry are satisfactory in deep urban canyons, whereas tunnels are still a major challenge. Multisensory integration with the aid of an IMU is a promising solution for achieving seamless positioning in cities. The dataset in its entirety can be found on GitHub at https://github.com/IPNL-POLYU/UrbanNavDataset.
Related Topics
Concepts
Inertial measurement unit
Computer science
GNSS applications
Odometry
Lidar
Global Positioning System
Ground truth
Benchmark (surveying)
Remote sensing
Gyroscope
Artificial intelligence
Sensor fusion
Real-time computing
Ranging
Real Time Kinematic
Computer vision
Geography
Telecommunications
Robot
Mobile robot
Engineering
Aerospace engineering
Geodesy
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.33012/navi.602
- https://navi.ion.org/content/navi/70/4/navi.602.full.pdf
- OA Status
- diamond
- Cited By
- 51
- References
- 59
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4383220232
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4383220232Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.33012/navi.602Digital Object Identifier
- Title
-
Hong Kong UrbanNav: An Open-Source Multisensory Dataset for Benchmarking Urban Navigation AlgorithmsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-01-01Full publication date if available
- Authors
-
Li‐Ta Hsu, Feng Huang, Hoi‐Fung Ng, Guohao Zhang, Yihan Zhong, Xiwei Bai, Weisong WenList of authors in order
- Landing page
-
https://doi.org/10.33012/navi.602Publisher landing page
- PDF URL
-
https://navi.ion.org/content/navi/70/4/navi.602.full.pdfDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
diamondOpen access status per OpenAlex
- OA URL
-
https://navi.ion.org/content/navi/70/4/navi.602.full.pdfDirect OA link when available
- Concepts
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Inertial measurement unit, Computer science, GNSS applications, Odometry, Lidar, Global Positioning System, Ground truth, Benchmark (surveying), Remote sensing, Gyroscope, Artificial intelligence, Sensor fusion, Real-time computing, Ranging, Real Time Kinematic, Computer vision, Geography, Telecommunications, Robot, Mobile robot, Engineering, Aerospace engineering, GeodesyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
51Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 25, 2024: 17, 2023: 9Per-year citation counts (last 5 years)
- References (count)
-
59Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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