├── README.md ├── UrbanNav-HK-Data20190428 ├── camera_intrinsics.yaml ├── extrinsic.yaml └── xsens_imu_param.yaml ├── UrbanNav-HK-Data20200314 ├── camera_extrinsic.yaml ├── extrinsic.yaml └── xsens_imu_param.yaml ├── UrbanNav-HK-Deep-Urban-1 ├── extrinsic.yaml ├── xsens_imu_param.yaml └── zed2_intrinsics.yaml ├── UrbanNav-HK-Harsh-Urban-1 ├── extrinsic.yaml ├── xsens_imu_param.yaml └── zed2_intrinsics.yaml ├── UrbanNav-HK-Medium-Urban-1 ├── extrinsic.yaml ├── xsens_imu_param.yaml └── zed2_intrinsics.yaml ├── UrbanNav-HK-Tunnel-1 ├── extrinsic.yaml ├── xsens_imu_param.yaml └── zed2_intrinsics.yaml ├── docs ├── GETTING_STARTED.md ├── RELATED_PUBLICATIONS.md ├── Webinar UrbanNav Slide.pdf └── img │ ├── gnss_1.png │ ├── gnss_2.png │ ├── lidar_1.png │ └── rosbag_info_medium_urban1.png ├── img ├── UrbanNav-HK-CHTunnel-20210518.gif ├── UrbanNav-HK-Data20190314.jpg ├── UrbanNav-HK-Data20190428.gif ├── UrbanNav-HK-Deep-Urban-1.png ├── UrbanNav-HK-Harsh-Urban-1.png ├── UrbanNav-HK-Medium-Urban-1.png ├── UrbanNav-HK-Mongkok-20210518.gif ├── UrbanNav-HK-TST-20210517.gif ├── UrbanNav-HK-Tunnel-1.png ├── UrbanNav-HK-Whampoa-20210521.gif ├── calibration_sensors.png ├── hongkong_sensor.png ├── hongkong_sensor2.png ├── tokyosensor.png ├── trajectory.png ├── trajectory1.png └── urbanNav.png └── tools ├── evaluation └── gt_for_slam │ ├── gt_slam_UrbanNav-HK-CHTunnel-20210518.csv │ ├── gt_slam_UrbanNav-HK-Mongkok-20210518.csv │ ├── gt_slam_UrbanNav-HK-TST-20210517.csv │ ├── gt_slam_UrbanNav-HK-Whampoa-20210521.csv │ └── readme.md ├── gt_vis ├── convert_novatel_to_pose.py ├── data │ ├── UrbanNav_TST_GT.txt │ ├── UrbanNav_TST_GT_raw.txt │ └── UrbanNav_whampoa.txt ├── img │ └── vis_tst_gt.png ├── load_novatel_data.py ├── readme.md └── run_vehicle_path.py └── lidar2image ├── CMakeLists.txt ├── data ├── 2.pcd ├── 2_pillar_car.pcd └── 3.png ├── img ├── proj1.png └── proj2.png ├── main.cpp └── readme.md /README.md: 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