An unmanned aerial vehicle, UAV, comprising: a propulsion mechanism; a plurality of imaging elements spaced about the UAV; an imaging element selection controller in communication with each of the plurality of imaging elements, the imaging element selection controller configured to at least: determine a first approximate distance between the UAV and an object based at least in part on stereo imaging information and a known baseline between two of the plurality of imaging elements; select a first imaging element of the plurality of imaging elements and a second imaging element of the plurality of imaging elements as a stereo pair, wherein the selection is based at least in part on the first approximate distance and a first baseline distance between the first imaging element and the second imaging element; obtain a first image captured by the first imaging element; obtain a second image captured by the second imaging element; process the first image and the second image to generate depth information corresponding to the object; determine a second approximate distance between the UAV and the object, the first approximate distance and the second approximate distance being different; select a third imaging element of the plurality of imaging elements and a fourth imaging element of the plurality of imaging elements as a second stereo pair, wherein the selection is based at least in part on the second approximate distance and a second baseline distance between the third imaging element and the fourth imaging element; obtain a third image captured by the third imaging element; obtain a fourth image captured by the fourth imaging element; and process the third image and the fourth image to generate second depth information corresponding to the object. a propulsion mechanism; a plurality of imaging elements spaced about the UAV; an imaging element selection controller in communication with each of the plurality of imaging elements, the imaging element selection controller configured to at least: determine a first approximate distance between the UAV and an object based at least in part on stereo imaging information and a known baseline between two of the plurality of imaging elements; select a first imaging element of the plurality of imaging elements and a second imaging element of the plurality of imaging elements as a stereo pair, wherein the selection is based at least in part on the first approximate distance and a first baseline distance between the first imaging element and the second imaging element; obtain a first image captured by the first imaging element; obtain a second image captured by the second imaging element; process the first image and the second image to generate depth information corresponding to the object; determine a second approximate distance between the UAV and the object, the first approximate distance and the second approximate distance being different; select a third imaging element of the plurality of imaging elements and a fourth imaging element of the plurality of imaging elements as a second stereo pair, wherein the selection is based at least in part on the second approximate distance and a second baseline distance between the third imaging element and the fourth imaging element; obtain a third image captured by the third imaging element; obtain a fourth image captured by the fourth imaging element; and process the third image and the fourth image to generate second depth information corresponding to the object. determine a first approximate distance between the UAV and an object based at least in part on stereo imaging information and a known baseline between two of the plurality of imaging elements; select a first imaging element of the plurality of imaging elements and a second imaging element of the plurality of imaging elements as a stereo pair, wherein the selection is based at least in part on the first approximate distance and a first baseline distance between the first imaging element and the second imaging element; obtain a first image captured by the first imaging element; obtain a second image captured by the second imaging element; process the first image and the second image to generate depth information corresponding to the object; determine a second approximate distance between the UAV and the object, the first approximate distance and the second approximate distance being different; select a third imaging element of the plurality of imaging elements and a fourth imaging element of the plurality of imaging elements as a second stereo pair, wherein the selection is based at least in part on the second approximate distance and a second baseline distance between the third imaging element and the fourth imaging element; obtain a third image captured by the third imaging element; obtain a fourth image captured by the fourth imaging element; and process the third image and the fourth image to generate second depth information corresponding to the object.