UrbanLoco is a mapping/localization dataset collected with a full sensor suite in highly urbanized environments. The dataset consists of 13 trajectories collected in San Francisco and Hong Kong, with a total length of over 40 km. The dataset includes a wide variety of urban terrains: urban canyons, bridges, tunnels, sharp turns, etc. In addition, the dataset includes information from LIDAR, cameras, IMU, and GNSS receivers.