System and method for obstacle avoidance

An unmanned aerial vehicle (UAV), comprising:

• a plurality of propellers for providing a lifting power;
• and
• one or more processors, individually or collectively, configured to:
• determine a detection mode for detecting an obstacle distance of an obstacle;
• detect the obstacle distance using the detection mode, including in response to determining a monocular mode as the detection mode:
• capturing a first image and a second image using a lens of an imaging device at two different times with a predetermined monocular imaging interval at two different locations, both the first image and the second image containing the obstacle, where the predetermined monocular imaging interval varies based upon an altitude of the imaging device changes;
• and
• calculating the obstacle distance via a monocular triangulation based on the first image, the second image, and a displacement of the imaging device between the two different times.

An apparatus for assisting obstacle avoidance of a mobile platform, comprising one or more processors, individually or collectively, operate to:

• determine a detection mode for detecting an obstacle distance of an obstacle;
• detect the obstacle distance using the detection mode, including in response to determining a monocular mode as the detection mode:
• capturing a first image and a second image using a lens of an imaging device at two different times with a predetermined monocular imaging interval at two different locations, both the first image and the second image containing the obstacle, where the predetermined monocular imaging interval varies based upon an altitude of the imaging device changes;
• and
• calculating the obstacle distance via a monocular triangulation based on the first image, the second image, and a displacement of the imaging device between the two different times.