A method for operating a mobile platform , comprising: detecting a distance between the mobile platform and an obstacle ; and detecting a speed of the mobile platform , wherein said detecting the distance comprises detecting the distance via time-of-flight sensing of emitted light or detecting the distance via ultrasound sensing, wherein said detecting the distance comprises: measuring the distance via the time-of-flight sensing to obtain a first measurement; measuring the distance via the ultrasound sensing to obtain a second measurement; and determining the distance based on at least one of the first measurement and the second measurement, wherein said determining the distance further comprises: measuring an ambient light level adjacent to the mobile platform , wherein said measuring the ambient light level comprises measuring the ambient light level via time-of-flight sensing; and controlling the mobile platform according to the detected distance and the detected speed; the method being characterized in that said measuring the ambient light level via time-of-flight sensing comprises determining a constant bias of a cross-correlation between an emitted light wave and a corresponding received light wave; and in that said determining the distance further comprises: determining the distance by weighting the first measurement relative to the second measurement according to the ambient light level. detecting a distance between the mobile platform and an obstacle ; and detecting a speed of the mobile platform , wherein said detecting the distance comprises detecting the distance via time-of-flight sensing of emitted light or detecting the distance via ultrasound sensing, wherein said detecting the distance comprises: measuring the distance via the time-of-flight sensing to obtain a first measurement; measuring the distance via the ultrasound sensing to obtain a second measurement; and determining the distance based on at least one of the first measurement and the second measurement, wherein said determining the distance further comprises: measuring an ambient light level adjacent to the mobile platform , wherein said measuring the ambient light level comprises measuring the ambient light level via time-of-flight sensing; and measuring the distance via the time-of-flight sensing to obtain a first measurement; measuring the distance via the ultrasound sensing to obtain a second measurement; and determining the distance based on at least one of the first measurement and the second measurement, wherein said determining the distance further comprises: measuring an ambient light level adjacent to the mobile platform , wherein said measuring the ambient light level comprises measuring the ambient light level via time-of-flight sensing; and controlling the mobile platform according to the detected distance and the detected speed; the method being characterized in that said measuring the ambient light level via time-of-flight sensing comprises determining a constant bias of a cross-correlation between an emitted light wave and a corresponding received light wave; and in that said determining the distance further comprises: determining the distance by weighting the first measurement relative to the second measurement according to the ambient light level. said measuring the ambient light level via time-of-flight sensing comprises determining a constant bias of a cross-correlation between an emitted light wave and a corresponding received light wave; and in that said determining the distance further comprises: determining the distance by weighting the first measurement relative to the second measurement according to the ambient light level. <EOS>