# Construction-Site Traversability Closed-loop recordings from an autonomous mobile robot on two active construction sites, as native `.mcap` episodes. A tracked mobile robot drives through the sites carrying an OAK-D colour and range camera, a Livox 3D LiDAR, two inertial units and a u-blox GNSS receiver. A LiDAR-inertial odometry estimate and the wheel encoders are recorded alongside the sensors, and the runs revisit the same ground, which is what makes them useful for loop closure and for traversability work. Four sessions and 105 minutes of driving over 9,760 m of ground, holding 62,995 colour frames, 62,931 range frames, 62,995 LiDAR sweeps carrying 1.26 billion points, 3.15 million inertial samples and 4,986 satellite fixes. #### NOTE The recordings were made on working sites and contain site personnel and vehicles in the camera streams. They are republished unchanged from a public release. **Details** - Dataset name: `construction-site-traversability` - Dataset source: [https://huggingface.co/datasets/Voxel51/Construction-Site-Traversability](https://huggingface.co/datasets/Voxel51/Construction-Site-Traversability) - Dataset size: 18.14 GB - Dataset license: CC BY-NC 4.0 - Tags: `multimodal, mcap, robotics, lidar, depth, gnss` - Supported splits: `N/A` - ZooDataset class: [`ConstructionSiteTraversabilityDataset`](../../api/fiftyone.zoo.datasets.base.md#fiftyone.zoo.datasets.base.ConstructionSiteTraversabilityDataset) **Example usage** Python CLI ```python import fiftyone as fo import fiftyone.zoo as foz dataset = foz.load_zoo_dataset("construction-site-traversability") # The longest run view = dataset.sort_by("duration", reverse=True) session = fo.launch_app(dataset, view=view) ``` ```shell fiftyone zoo datasets load construction-site-traversability fiftyone app launch construction-site-traversability ```