Abstract: Systems and methods to detect objects and associated properties may be performed by an aerial vehicle having one or more propellers and one or more microphones. The aerial vehicle may emit propeller noise patterns via the propellers during operation, and the aerial vehicle may receive echoes of the propeller noise patterns via the microphones. Based on the emitted noise patterns and received echoes, the aerial vehicle may detect objects and associated properties within an environment of the aerial vehicle. In addition, the aerial vehicle may emit encoded propeller noise patterns via the propellers during operation to communicate with other aerial vehicles, and other aerial vehicles may receive the encoded propeller noise patterns via microphones. Using such encoded propeller noise patterns, a plurality of aerial vehicles may communicate and/or coordinate operations with each other.

Abstract: An aerial vehicle is outfitted with two or more digital cameras that may be continuously calibrated. The aerial vehicle may include one or more markings provided on portions of a frame, a control surface or another component that are within fields of view of the digital cameras. Based on an initial calibration of the digital cameras, intrinsic and extrinsic parameters of the digital cameras may be determined. Using the intrinsic and extrinsic parameters, locations of the markings may be determined. Subsequently, after the aerial vehicle has engaged in flight operations, images captured of the marking may be used to determine whether the digital cameras remain properly calibrated, and whether images captured using the imaging devices may be relied upon in determining ranges to objects or for any other purpose. A correction factor may be generated based on any differences between projections of the markings within the respective images.

Abstract: Described is an imaging component that utilizes two rolling shutter sensors for motion detection of objects and for depth mapping of objects within an effective field of view of the imaging component. Unlike traditional stereo cameras that utilize global shutter sensors to avoid distortions, or attempting to remove distortions created by rolling shutter sensors, the disclosed implementations emphasize the distortions created by rolling shutters imaging moving objects and utilize that information to determine that the objects are moving and/or to determine a range or distance of the object from the imaging component. For example, a first rolling shutter sensor is oriented in a first orientation such that the scanlines generate the image from a top of the sensor to the bottom of the sensor, and a second rolling shutter sensor is oriented in a second orientation such that the scanlines generate the image from a bottom of the sensor to the top of the sensor.