Jason Keogh, 44, nearly KO’d himself on the parked vehicle as he fled.
In his confusion, he left a trail of clues after an armed hold-up from a cash van outside a Morrisons, the Old Bailey heard.
CCTV caught him pulling the light blue undies over his face as a disguise.
He threatened a G4S guard with a loaded antique revolver and snatched a box containing £22,405 in Palmers Green, North London.
But prosecutor Geoff Gelbart said: “He can be seen smashing into the corner of a parked van and recoiling off it when the briefs impeded his vision during his escape.”
Keogh flung the box in a canal as its dye protection system kicked in.
But the gun he hurled landed on the opposite bank and that, plus his cap, were found with his DNA.
He was in the same clothes when arrested three weeks later at home in nearby Enfield. He admitted robbery and got seven years’ jail.
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