用视觉模型替代激光雷达，实现低成本高可靠越野自动驾驶

Off-road autonomous navigation demands reliable 3D perception for robust obstacle detection in challenging unstructured terrain. While LiDAR is accurate, it is costly and power-intensive. Monocular depth estimation using foundation models offers a lightweight alternative, but its integration into outdoor navigation stacks remains underexplored. We present an open-source off-road navigation stack supporting both LiDAR and monocular 3D perception without task-specific training. For the monocular setup, we combine zero-shot depth prediction (Depth Anything V2) with metric depth rescaling using sparse SLAM measurements (VINS-Mono). Two key enhancements improve robustness: edge-masking to reduce obstacle hallucination and temporal smoothing to mitigate the impact of SLAM instability. The resulting point cloud is used to generate a robot-centric 2.5D elevation map for costmap-based planning. Evaluated in photorealistic simulations (Isaac Sim) and real-world unstructured environments, the monocular configuration matches high-resolution LiDAR performance in most scenarios, demonstrating that foundation-model-based monocular depth estimation is a viable LiDAR alternative for robust off-road navigation. By open-sourcing the navigation stack and the simulation environment, we provide a complete pipeline for off-road navigation as well as a reproducible benchmark. Code available at https://github.com/LARIAD/Offroad-Nav.