A method includes receiving a plurality of images from an imaging device carried by a movable object. The method further includes determining whether an environment type of the movable object is a first type or a second type according to sensing data received from one or more sensors of the movable object, identifying a target based on the plurality of images using a first method in response to determining that the environment type is the first type and using a second method different from the first method in response to determining that the environment type is the second type, and determining state information of the movable object or the target based on the plurality of images.