1. Introduction
Over 4 billion people - more than 55% of the world's population - live in cities, and this number is expected to grow to nearly 70% by the year 2050 [58]. Although rapid urbanization has economic and other social benefits, it has also exposed more people to environmental hazards including air pollution - the largest environmental contributor to mortality [60]. Poor air quality is linked to a number of adverse health effects, including heart and lung disease, as well as asthma [19], [36], [61]. To monitor environmental pollutants, regu-lators and policymakers rely on data from regulatory equipment managed by government agencies and research institutes. How-ever, highly accurate regulatory monitors are expensive, large, and require special expertise for maintenance. As a result, regulatory networks are geographically sparse and thus unable to capture known variability that occurs at finer spatial resolution [30], [48]. For urban public health and planning applications - which require an understanding of intra-urban spatial inequities and evaluations of policies over time - there is a strong need to collect real-time data at finer spatial resolutions.