I. Introduction
As the global urban population continues to grow, cities are increasingly interested in monitoring urban processes such as vehicular traffic, and environmental harms including air pollution and noise, to help cities grow in a healthy and sustainable fashion [1], [2]. The lowering cost of sensing infrastructure has encouraged city officials, researchers, and urban residents to use large-scale, low-cost sensor networks to collect data, monitor hyperlocal phenomena, and inform policy to help transition to becoming smart cities [2], [3].