UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

Weisong Wen, Yiyang Zhou, Guohao Zhang, Saman Fahandezh-Saadi, Xiwei Bai, Wei Zhan, Masayoshi Tomizuka, Li Ta Hsu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

10 Citations (Scopus)


Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature matching, and inertia navigation has greatly enhanced the accuracy and robustness of mapping and localization in different scenarios. However, highly urbanized scenes are still challenging: LIDAR- and camera-based methods perform poorly with numerous dynamic objects; the GNSS-based solutions experience signal loss and multi-path problems; the inertia measurement units (IMU) suffer from drifting. Unfortunately, current public datasets either do not adequately address this urban challenge or do not provide enough sensor information related to map-ping and localization. Here we present UrbanLoco: a mapping/localization dataset collected in highly-urbanized environments with a full sensor-suite. The dataset includes 13 trajectories collected in San Francisco and Hong Kong, covering a total length of over 40 kilometers. Our dataset includes a wide variety of urban terrains: urban canyons, bridges, tunnels, sharp turns, etc. More importantly, our dataset includes information from LIDAR, cameras, IMU, and GNSS receivers. Now the dataset is publicly available through the link in the footnote 1.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781728173955
Publication statusPublished - May 2020
Event2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
Duration: 31 May 202031 Aug 2020

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this