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Drone delivery has been a hot topic in the industry in the past few years.However, existing approaches either focus on rural areas or rely on centralizeddrop-off locations from where the last mile delivery is performed. In thispaper we tackle the problem of autonomous last mile delivery in urbanenvironments using an off-the-shelf drone. We build a prototype system that isable to fly to the approximate delivery location using GPS and then find theexact drop-off location using visual navigation. The drop-off location could,e.g., be on a balcony or porch, and simply needs to be indicated by a visualmarker on the wall or window. We test our system components in simulatedenvironments, including the visual navigation and collision avoidance. Finally,we deploy our drone in a real-world environment and show how it can find thedrop-off point on a balcony. To stimulate future research in this topic we opensource our code.

The Urban Last Mile Problem: Autonomous Drone Delivery to Your Balcony