GNSS measurement data on the urban area of Hildesheim

The provided dataset was recorded to be used for road map generation and comprise GNSS measurements of different accuracy levels and sources. The measurements are hereafter referred to as trajectories. The dataset includes ego trajectories of one vehicle as well as object trajectories which are measurements recorded by supervising other vehicles by using a camera relatively to the vehicle. Additionally, a lane accurate map is included which represents the centerlines of all lanes of a road map as a graph.