This rug is not a dark true navy, I would call it more dark blue (not quite navy). The rug is comfortable to walk on, the ivory areas are slightly raised but I do not think this will be an issue in the room. We've only had it a day but I think it will work just fine. 

UPDATE:I have received so many compliments on the color, however that is where the good review ends. The raised lattice pattern is AWFUL! This feature makes vacuuming extremely difficult and it is uncomfortable to walk on. In addition, our son's Rock N Play does not Rock on this rug. Extremely disappointing. Also disappointing is how easily my cat has been able to destroy/tear up the rug. Our entire house is hardwood floors with area rugs, this is the only rug that she has not only been able to pull the threading up, but she has completely destroyed it, and it only took her 1 month. 

Pros: great color
Cons: cheaply made/stitched, uncomfortable to walk on, impossible to vacuum