“…For sensing and obstacle detection technologies, classical vision sensors (monocular camera, stereo camera, and RGB‐D camera) are the popular sensing choice to perceive obstacles as their light weight and relatively high perception accuracy (Zaffar et al, 2018). When choosing the classical vision sensors as the front end, the DF and occupancy map are commonly chosen as the back end because they reasonably estimate the perception uncertainty (Lu et al, 2022; Polevoy et al, 2022; Tordesillas et al, 2021; B. Zhou et al, 2020). Considering the perception efficiency, the depth features and image features are also widely used in high speed flight (Carrio et al, 2020; Hatch et al, 2021).…”