Aerial vehicle composite imaging using fixed cameras and range information

An aerial vehicle comprising:

• a plurality of fixed cameras mounted on the aerial vehicle;
• and
• one or more processors configured by executable instructions to at least:
• capture, using the plurality of fixed cameras on the aerial vehicle, a plurality of images of an environment in which the aerial vehicle is operating;
• based at least on the plurality of images, perform image-based range estimation to determine range information including estimated distances from the aerial vehicle to one or more portions of the environment;
• associate the range information with at least one image of the plurality of images of the environment;
• and
• send the plurality of images to a ground device for displaying, based at least in part on the range information, at least some of the plurality of images as a composite image at the ground device.

A method comprising:

• capturing, by a plurality of fixed cameras on an aerial vehicle, a plurality of images of an environment in which the aerial vehicle is operating;
• based at least on the plurality of images, performing image-based range estimation to determine range information including estimated distances from the aerial vehicle to one or more portions of the environment;
• associating the range information with at least one image of the plurality of images of the environment;
• based at least in part on the range information, displaying at least some of the plurality of images as a composite image at a mobile controller having a display;
• and
• using, by the aerial vehicle, at least some of the images of the plurality of images for obstacle avoidance during navigation of the aerial vehicle within the environment.