The paper shows that monocular depth estimation from foundation models, enhanced with SLAM rescaling, edge masking, and temporal smoothing, can match LiDAR for off-road robot navigation.
The marathon 2: A navigation system
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An Open-Source LiDAR and Monocular Off-Road Autonomous Navigation Stack
The paper shows that monocular depth estimation from foundation models, enhanced with SLAM rescaling, edge masking, and temporal smoothing, can match LiDAR for off-road robot navigation.