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Towards Autonomous Drone Racing without GPU Using an OAK-D Smart Camera.

Leticia Oyuki Rojas-Perez1, Jose Martinez-Carranza1

  • 1Department of Computational Science, Instituto Nacional de Astrofísica, Óptica y Electrónica (INAOE), Puebla 72840, Mexico.

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Summary
This summary is machine-generated.

This study introduces a novel onboard system for autonomous drone racing (ADR) using the OpenCV AI Kit (OAK-D) smart camera. This system enables fully autonomous flight without external motion capture, achieving speeds of 2 m/s.

Keywords:
Autonomous Drone RacingCNNOAK-Ddeep learningsmart camera

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Area of Science:

  • Robotics
  • Computer Vision
  • Artificial Intelligence

Background:

  • Autonomous drone racing (ADR) has advanced, but current systems often rely on external motion capture, limiting true autonomy.
  • Onboard computation for tasks like gate detection and state estimation is challenging due to hardware limitations.

Purpose of the Study:

  • To develop a fully onboard autonomous system for drone racing.
  • To adapt the OpenCV AI Kit (OAK-D) smart camera for intensive onboard computations in ADR.
  • To reduce payload weight for enhanced drone maneuverability.

Main Methods:

  • Utilized the OpenCV AI Kit (OAK-D) smart camera for onboard neural inference and depth estimation.
  • Developed a 3D-printed back case for the OAK-D, reducing its weight by 40% to meet a 200 g payload limit.
  • Integrated the OAK-D with an Intel Stick compute for gate detection using a neural model running at 40 Hz.

Main Results:

  • Achieved onboard gate detection at 40 Hz using the OAK-D smart camera.
  • Enabled autonomous drone flight at a speed of 2 m/s with the developed system.
  • Demonstrated the feasibility of a lightweight, fully onboard ADR solution.

Conclusions:

  • The OAK-D smart camera is a promising solution for enabling truly autonomous drone racing.
  • The developed system significantly reduces reliance on external sensors and powerful onboard GPUs.
  • Further development holds potential for high-speed, fully autonomous drone operations.