Fully Onboard AI-powered Human-Drone Pose Estimation on Ultra-low Power Autonomous Flying Nano-UAVs

Published in arXiv, 2021

This is the first academic paper that uses the AI deck. The Crazyflie uses the HIMAX camera attached to the GAP8 chip to estimate its relative pose and position to a person nearby, and keeps that pose constant even if the person moves around or other people or objects enter its field of vision. Some small part of the software can be found in Jerome Guzzi’s Github repo; some of the AI parts of the code can be found here.

Check out the youtube video!

Download paper here