| schema_version: "1.0" | |
| module: | |
| name: nott | |
| version: "0.1.0" | |
| display_name: "NOTT — Thermal Depth Estimation and SLAM (T-RefNet)" | |
| description: "Real-time depth estimation and visual SLAM from monocular thermal camera input for GPS-denied navigation" | |
| category: perception.depth_estimation | |
| license: Apache-2.0 | |
| paper: "Thermal Image Refinement with Depth Estimation (arXiv:2603.14998, Mar 2026)" | |
| capabilities: | |
| provides: | |
| - type: depth_estimation | |
| subtype: thermal_monocular | |
| - type: slam | |
| subtype: thermal_visual | |
| interface: | |
| inputs: | |
| - name: thermal_image | |
| ros2_type: sensor_msgs/msg/Image | |
| outputs: | |
| - name: depth_map | |
| ros2_type: sensor_msgs/msg/Image | |
| - name: pose | |
| ros2_type: geometry_msgs/msg/PoseStamped | |
| hardware: | |
| platforms: | |
| - name: linux_x86 | |
| backends: [onnxruntime_cuda, onnxruntime_cpu] | |
| - name: nvidia_jetson | |
| backends: [tensorrt, onnxruntime_cuda] | |
| performance: | |
| profiles: | |
| - platform: linux_x86 | |
| model: nott-base | |
| backend: onnxruntime_cuda | |
| fps: 20 | |
| latency_p50_ms: 35 | |
| safety: | |
| failure_mode: returns_empty | |
| timeout_ms: 500 | |
| health_topic: /anima/nott/health | |
| composability: | |
| pairs_well_with: | |
| - perception.slam | |
| - defense.threat_detection | |
| conflicts_with: [] | |
| container: | |
| image: ghcr.io/robotflow-labs/anima-nott:0.1.0 | |
| port: 8104 | |