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Published at December 4

IRisPath: Enhancing Off-Road Navigation with Robust IR-RGB Fusion for Improved Day and Night Traversability

cs.RO

cs.CV

Released Date: December 4, 2024

Authors: Saksham Sharma¹, Akshit Raizada², Suresh Sundaram³

Aff.: ¹ArtPark, Indian Institute of Science, India; ²Indian Institute of Technology Indore, India; ³Department of Aerospace Engineering, Indian Institute of Science, India

Arxiv: http://arxiv.org/pdf/2412.03173v1

Sensor	Sensor’s Resolution	ROS Topic	Rate
FLIR Hadron	640x512	/ir_cam/image_raw	24Hz
FLIR BlackFly S	2048x1536	/camera/image_color	10Hz
ZED 2 Camera	1920x1080	/zed2/*	10Hz
Livox Mid360	Range $\sim$ 2.5cm Angular $\sim$ 0.15 degree	/livox/lidar	10Hz
Livox HAP	Range $\sim$ 2cm Angular $\sim$ 0.1 degree	/livox_HAP/lidar	10Hz
Velodyne VLP32	Range $\sim$ 3cm Angular $\sim$ 0.4 degree	/velodyne_points	10Hz
Xsense IMU	Velocity 0.05m/s	/imu/*	350Hz