This document discusses infrastructure for urban-scale Internet of Things (IoT) sensing. It describes an interdisciplinary team that develops IoT sensors, cloud infrastructure for data storage and analysis, and applications like traffic monitoring and citizen well-being tracking. The team operates large vehicular networks of over 600 vehicles for sensing. They have also developed low-cost environmental and health sensors, and platforms for crowdsourced data collection from citizens on topics like mood, transportation habits and bus driver stress. The goal is to use IoT technologies to collect a wide range of urban data at scale for research purposes.