{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/an-open-source-and-open-hardware-deep","title":"An Open Source and Open Hardware Deep Learning-powered Visual Navigation Engine for Autonomous Nano-UAVs","arxiv_id":"1905.04166","date":"2019-05-10","proceeding":null,"authors":["Daniele Palossi","Francesco Conti","Luca Benini"],"abstract":"Nano-size unmanned aerial vehicles (UAVs), with few centimeters of diameter and sub-10 Watts of total power budget, have so far been considered incapable of running sophisticated visual-based autonomous navigation software without external aid from base-stations, ad-hoc local positioning infrastructure, and powerful external computation servers. In this work, we present what is, to the best of our knowledge, the first 27g nano-UAV system able to run aboard an end-to-end, closed-loop visual pipeline for autonomous navigation based on a state-of-the-art deep-learning algorithm, built upon the open-source CrazyFlie 2.0 nano-quadrotor. Our visual navigation engine is enabled by the combination of an ultra-low power computing device (the GAP8 system-on-chip) with a novel methodology for the deployment of deep convolutional neural networks (CNNs). We enable onboard real-time execution of a state-of-the-art deep CNN at up to 18Hz. Field experiments demonstrate that the system's high responsiveness prevents collisions with unexpected dynamic obstacles up to a flight speed of 1.5m/s. In addition, we also demonstrate the capability of our visual navigation engine of fully autonomous indoor navigation on a 113m previously unseen path. To share our key findings with the embedded and robotics communities and foster further developments in autonomous nano-UAVs, we publicly release all our code, datasets, and trained networks.","url_abs":"https://arxiv.org/abs/1905.04166v1","url_pdf":"https://arxiv.org/pdf/1905.04166v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"an-open-source-and-open-hardware-deep","repo_url":"https://github.com/pulp-platform/pulp-dronet","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"tf","reach":null},{"paper_slug":"an-open-source-and-open-hardware-deep","repo_url":"https://github.com/joanfmendo/prop-dronet","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"NOASSERTION"}}],"tasks":[{"task_slug":"autonomous-navigation","task_name":"Autonomous Navigation"},{"task_slug":"visual-navigation","task_name":"Visual Navigation"}],"methods":[{"method_slug":"speed","method_name":"SPEED"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}