Patent Document ID: 9720413
Application ID: 14977522
Patent Status: 1

Claim One:
1. An unmanned aerial vehicle comprising: a housing; a motor carried by the housing, the motor configured to drive a rotor; a first image sensor carried within the housing and configured to generate a first output signal conveying first visual information based on light that becomes incident thereon; a second image sensor carried within the housing and configured to generate a second output signal conveying second visual information based on light that becomes incident thereon; a first optical element configured to guide light within a first field of view to the first image sensor, the first field of view being greater than 180 degrees, the first optical element being carried by the housing and being vertically oriented such that the first field of view is directed upwards when the unmanned aerial vehicle operates leveled with respect to ground; a second optical element configured to guide light within a second field of view to the second image sensor, the second field of view being greater than 180 degrees, the second optical element being carried by the housing such that a centerline of the second field of view is substantially opposite from a centerline of the first field of view and a peripheral portion of the first field of view and a peripheral portion of the second field of view overlap, and being vertically oriented such that the second field of view is directed downwards when the unmanned aerial vehicle operates leveled with respect to ground, wherein the peripheral portion of the first field of view and the peripheral portion of the second field of view that overlap circumscribe the unmanned aerial vehicle and include 360 degrees of lateral directions around the unmanned aerial vehicle; and one or more processors carried by the housing, wherein the one or more processors are configured by machine readable instructions to: receive the first output signal and the second output signal; determine a disparity of an object within the peripheral portion of the first field of view and the peripheral portion of the second field of view that overlap; and provide flight control for the unmanned aerial vehicle based on the disparity.