1. A method of controlling light emitters of a mobile automation apparatus, the method comprising:controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing a support structure;
obtaining a support structure plane definition;
selecting a subset of the depth measurements;
determining, based on the subset of depth measurements and the support structure plane, whether the subset of the depth measurements indicates the presence of a sensitive receptor;
when the determination is affirmative, disabling the light emitters; and
when the determination is negative, controlling (i) the light emitters to illuminate the support structure and (ii) a camera to capture an image of the support structure simultaneously with the illumination.