System and Method for Auto-Return

An apparatus of controlling flight of an aerial vehicle includes a memory storing a computer program code, and one or more processors, individually or collectively, configured to execute the computer program code to: collect, while the aerial vehicle traverses a flight path, a set of images corresponding to different fields of view of an environment around the aerial vehicle, construct a map of the environment using the set of images, and control the aerial vehicle to return along a return path using the map of the environment.