Dataset for "Localization for Car-like Vehicles using Loosely Coupled Dual GNSS Integration"

This dataset contains rosbag recordings used in the paper “Localization for Car-like Vehicles using Loosely Coupled Dual GNSS Integration”. The data was collected from both CARLA simulation and real-world experiments, using a sensor setup composed of: Two GNSS receivers (dual-baseline configuration). One monocular camera with embedded IMU. A ground-truth reference. The dataset includes: CARLA simulation rosbags: vehicle trajectories in controlled scenarios with configurable noise models. Real-world rosbags: experiments conducted on a car-like platform equipped with dual GNSS, camera, and IMU. Each folder contains rosbags organized by experiment. The dataset supports research in visual-inertial navigation, GNSS-INS/VIO fusion, and localization for intelligent vehicles. File format: ROS1 .bag files (ROS Noetic / Ubuntu 20.04).