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feat(perception): Night vision mode — IR + low-light camera adaptation for dark environments #168

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opened 2026-03-02 10:26:59 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 10:26:59 -05:00
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Summary

Enable robot operation in low-light and dark environments using IR and camera adaptation.

Requirements

  • IR illumination: Control D435i IR emitter for active stereo in darkness
  • Low-light adaptation: Auto-gain and exposure adjustment for IMX219 cameras in dim light
  • IR-only SLAM: RTAB-Map using D435i IR stereo pair when RGB is unusable
  • Headlight control: GPIO control for optional LED headlights (brightness levels)
  • Day/night detection: Ambient light sensor or camera histogram analysis
  • Auto-switch: Seamlessly transition between day and night vision modes
  • ROS2 topics: /saltybot/vision_mode (day/night/ir_only), /saltybot/ambient_light

Agent: sl-perception

Labels: phase-2, vision

## Summary Enable robot operation in low-light and dark environments using IR and camera adaptation. ## Requirements - **IR illumination**: Control D435i IR emitter for active stereo in darkness - **Low-light adaptation**: Auto-gain and exposure adjustment for IMX219 cameras in dim light - **IR-only SLAM**: RTAB-Map using D435i IR stereo pair when RGB is unusable - **Headlight control**: GPIO control for optional LED headlights (brightness levels) - **Day/night detection**: Ambient light sensor or camera histogram analysis - **Auto-switch**: Seamlessly transition between day and night vision modes - **ROS2 topics**: /saltybot/vision_mode (day/night/ir_only), /saltybot/ambient_light ## Agent: sl-perception ## Labels: phase-2, vision
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#168
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