Indoor mobile robot navigation

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I'm trying to realize indoor navigation for a car. I have a monocular camera and an IMU.

Some ideas I'm exploring:

1. Extract the corridor edges and design a controller that would steer the car in a way that it is centered within the extracted corridor edges.
2. Use 2D SLAM to identify wall edges and steer accordingly.
3. Segment out the floor in the image and get a driveable surface and then steer the car to that surface.

Q1. Are there ROS packages for 1,2,3 ? Q2. What other ideas should I explore?