Flare detection and avoidance in stereo vision systems

A method comprising:

• propelling a vehicle along a route toward a destination;
• recording at least first imagery of the route with a first camera and second imagery of the route with a second camera, the first camera having a first field of view (FOV) and the second camera having a second field of view, the first FOV being offset from the second FOV to cause a disparity between the first imagery and the second imagery;
• scanning the route for obstacles to avoid the obstacles, the scanning based on the disparity between the first imagery and the second imagery;
• monitoring at least one of a first exposure level associated with the first imagery by monitoring a first histogram data or a second exposure level associated with the second imagery by monitoring a second histogram data;
• detecting a disruption to the scanning that is caused by at least one of the first exposure level or the second exposure level exceeding an exposure threshold;
• and
• in response to a disruption to the scanning that is caused by the at least one of the first exposure level or the second exposure level exceeding the exposure threshold, repositioning at least one camera component to reduce the first exposure level as measured by the first histogram data or to reduce the second exposure level as measured by the second histogram data with respect to a light source to reduce an amount of light entering at least one of the first camera or the second camera.

An unmanned aerial vehicle (UAV) comprising:

• one or more processors;
• and
• memory coupled to the one or more processors, the memory including one or more computer-executable instructions that are executable by the one or more processors to perform operations comprising:
• identifying an obstacle along a route within each of a first field of view (FOV) of a first camera and a second FOV of a second camera, wherein the first FOV and the second FOV are offset;
• tracking the obstacle to avoid the obstacle, the tracking based on a disparity between a first location of the obstacle within the first FOV and a second location of the obstacle within the second FOV;
• monitoring a first exposure level associated with the first FOV and a second exposure level associated with the second FOV;
• detecting at least one of the first exposure level or the second exposure level exceeding an exposure threshold that interferes with tracking the obstacle;
• and
• in response to the at least one of the first exposure level or the second exposure level exceeding the exposure threshold, performing one or more aerial maneuvers to change an orientation of the UAV with respect to a peripheral light source to reduce the first exposure level as measured by a first histogram data or to reduce the second exposure level as measured by a second histogram data.