A system for avoiding a collision based on a vision includes a camera for filming a region ahead of a vehicle, a path generating device that sets a travelable region where the vehicle may travel by avoiding an obstacle in a vision of the region ahead of the vehicle filmed by the camera, and generates one or more travel paths in the travelable region, and a motion controller that selects one optimal path from the travel paths to perform a longitudinal control or a lateral control of the vehicle such that the vehicle travels along the optimal path.