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Abstract. DJI Guidance is an entirely new visual sensor navigation system, which has a function of realtime transmission of the depth of field images and other data. It is a robust optical sensing platform which significantly promotes the development of unmanned aerial vehicle (hereinafter referred to as UAV). On this basis, we have further studied and developed Guidance in application to the field of UAVs to also cut a striking figure, by applying the threshold and binaryzation to the single frame of a static image generated from Guidance. Utilizing OpenCV's contour detection algorithm, we find all the closed contour information and re-plan the feasible region. Also, we specially re-project the depth information to achieve threedimensional reconstruction of the image. Then combining the re-planed feasible domain with threedimensional reconstruction, we can perform real-time obstacle avoidance and mapping. The results demonstrate that our improvement can efficiently complete the obstacle avoidance and real-time mapping in the specific circumstances.