Collision avoidance system, depth imaging system, vehicle, map generator and methods thereof

An unmanned aerial vehicle, comprising:

• one or more depth imaging sensors configured to provide a depth image of a vicinity of the unmanned aerial vehicle;
• and
• one or more processors configured to:
• generate a spherical map from a perspective of the unmanned aerial vehicle,
• map the depth image to the spherical map, the spherical map comprising a set of directions and a depth value assigned to each direction of the set of directions,
• determine, from the spherical map, a first obstacle located within a first predetermined distance range of the unmanned aerial vehicle and movement information associated with the first obstacle, the first predetermined distance range being defined with respect to the unmanned aerial vehicle and having a maximal distance from the unmanned aerial vehicle,
• determine, from the spherical map, a second obstacle located within a second predetermined distance range of the unmanned aerial vehicle and movement information associated with the second obstacle, the second predetermined distance range being defined with respect to the unmanned aerial vehicle and having a maximal distance from the unmanned aerial vehicle,
• determine a virtual force vector based on at least one of the movement information associated with the first obstacle or the movement information associated with the second obstacle, and
• control flight of the unmanned aerial vehicle based on the virtual force vector to avoid a collision of the unmanned aerial vehicle with the first obstacle and the second obstacle,
• wherein the maximal distance of the first predetermined distance range is closer to the unmanned aerial vehicle than the maximal distance of the second predetermined distance range.