MonoNav is a monocular navigation stack that enables monocular robots to navigate unexplored environments. MonoNav leverages pre-trained depth-estimation networks (ZoeDepth) to convert RGB images into depth estimates, then fuses them into a 3D reconstruction using Open3D. MonoNav then selects from motion primitives to navigate collision-free to a goal position. We compare MonoNav to NoMaD, a state of the art navigation baseline.
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In Proceedings: International Symposium on Experimental Robotics (ISER), 2023
