MonoMPC: Monocular Vision Based Navigation
with Learned Collision Model and Risk-Aware
Model Predictive Control
Basant Sharma, Prajyot Jadhav, Pranjal Paul, K.Madhava Krishna,Arun Kumar Singh
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Monocular navigation in cluttered environments using ROSNAV (top) vs. our approach (bottom). ROSNAV constructs cost maps directly from the estimated point cloud (green) generated by DepthAnything, which deviates significantly from the ground-truth (red), leading to incorrect free-space detection (e.g., top row, panel 3) and collisions. In contrast, our method treats the estimated point cloud as a conditioning input to a learned probabilistic collision model, integrated with a risk-aware MPC framework. Snapshots across time steps are shown for both methods (corresponding time indices are labeled).
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