Abstract: The present disclosure generally relates to detecting and mitigating sensor failure. Such techniques optionally complement or replace other methods for detecting and mitigating sensor failure. Some techniques described herein cover a device detecting a sensor failure by identifying a mechanical object in a physical environment and determining that the mechanical object is capable of causing the sensor failure. The sensor failure is then mitigated by modifying an operation of the device. Other techniques described herein cover a device detecting a sensor failure by identifying a portion of the device in an image, identifying an expected characteristic of the portion, and determining that the portion does not currently include the expected characteristic. The sensor failure is then mitigated similarly to above by modifying an operation of the device.

Abstract: This disclosure provides more effective and/or efficient techniques for determining information about a physical environment. Such techniques optionally complement or replace other techniques for determining information about a physical environment. Some techniques described herein cover switching which cameras are used to calculate a depth of a location in a physical environment. The switch may occur when current images do not have sufficient feature correlation for calculating the depth of the location. Other techniques described herein cover switching which cameras are used to obtain sufficient data for a location within a representation (e.g., a three-dimensional representation) of a physical environment. The switch may occur in response to determining that there is not sufficient data for the location.