Abstract: A planar imaging sensor is provided. The planar imaging sensor comprises a plurality of photo detectors, wherein the plurality of photo detectors are divided into at least a first group and a second group. The number of photo detectors in the second group is larger than the number of photo detectors in the first group. The photo detectors of the first group are configured to have a first detection window, while the photo detectors of the second group are configured to have a second detection window. The second detection window is configured to start later in time than the first detection window.

Abstract: The present disclosure provides an unmanned flying vehicle (UAV) operable in a plurality of operating modes including a normal operations mode, a safe landing mode and an emergency landing mode. The normal operations mode is initiated when no errors are detected in the system. The safe landing mode is initiated when one or more non-critical components of the UAV are in non-responsive mode or do not work as desired. The emergency landing mode is initiated when one or more critical components are in non-responsive mode or do not work as desired. Further, the safe landing mode overrides the normal operations mode and the emergency landing mode overrides both the normal operations mode and the safe landing mode.