Performing Outdoor Navigation with a UGV

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I am using ROS Noetic on a UGV.

I want to perform outdoor navigation on my university campus, where there will be regions with zero network connectivity, uneven terrains, roads, people and other vehicles etc. what you expect from a general campus.

I am having RP-LiDAR and a RGB Camera, while I might be able to get my hands on an Intel Real-Sense Depth Camera.

Most of the solutions which I get from papers are done using a 3D-LiDAR which is costly.

Can you suggest me some methods which can be feasible by atleast a depth camera? I want a direction towards which I can work on.

Any help will be greatly appreciated.

Thanks!