Costmap without lidar data

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Hi all, I am working on a project that I am doing a self-driving car. In my map there is no obstacle to get data for driving. So I have to use lane tracking. At this point I want to use global and local planners. But I couldn't find any information about getting costmap without lidar. All projects get data from lidar and according to these data, giving the costmap. Is there any other method to get costmap with camera datas? btw I am using the ackermann vehicle.