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Example #42069 of why relying on vision alone for navigation is a terrible idea. At these speeds a $5 ultrasonic SONAR would've prevented this.
It probably had one. The software just probably sucks
About that much for a time of flight sensor that is faster and more reliable than sonar. But add them both for redundancy is the best.
ToF will generally go through glass (as long as it's translucent to the relevant IR range).