Systems and methods for improved mobile platform imaging

A method of operating a mobile platform, comprising:

• determining a threshold angle, relative to the mobile platform, of an imaging device mounted to the mobile platform that avoids obstruction of a field-of-view of the imaging device by one or more components of the mobile platform, the one or more components comprising one or more propellers that include a first propeller and a second propeller;
• determining a rotational offset between the first propeller and the second propeller that avoids interference between the first propeller and the second propeller within the field-of-view of the imaging device, including:
• fixing a position of the first propeller while varying a position of the second propeller;
• exposing the imaging device at positions of the second propeller to obtain relative position images;
• selecting one or more of the relative position images that include an image of at least one propeller blade of the first propeller or at least one propeller blade of the second propeller;
• finding a current rotational offset between the first propeller and the second propeller based on the selected one or more of the relative position images;
• and
• determining the rotational offset based on the current rotational offset;
• and controlling the mobile platform according to at least one of the threshold angle or the rotational offset.