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You could start with the Kinect and have a look what Patrick has done in the 3D contest. altitude control However as your onboard resources are limited (unless you're able to compute on the pointclouds from the internal DSP, I'm very interested in this, but I have no time) a combination of a regular camera and ultrasonic height measurement will do just fine I guess. We'll probably have some thesis students working on this also.
Look at this question + ansers: monocular VSLAM
Look at this question: kinect-data-via-router-to-host-pc and my answer: answer

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