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In this work, we present a system that enables delivery drones toautonomously navigate and deliver packages at various locations around a houseaccording to the desire of the recipient and without the need for any externalmarkers as currently used. This development is motivated by recent advancementsin deep learning that can potentially supplant the specialized markerspresently used by delivery drones for identifying sites at which to deliverpackages. The proposed system is more natural in that it takes instruction onwhere to deliver the package as input, similar to the instructions provided tohuman couriers. First, we propose a semantic image segmentation-baseddescending location estimator that enables the drone to find a safe spot aroundthe house at which it can descend from higher altitudes. Following this, wepropose a strategy for visually routing the drone from the descent location toa specific site at which it is to deliver the package, such as the front door.We extensively evaluate this approach in a simulated environment anddemonstrate that with our system, a delivery drone can deliver a package to thefront door and also to other specified locations around a house. Relative to afrontier exploration-based strategy, drones using the proposed system found andreached the front doors of the 20 test houses 161% faster.

Autonomous Drone Delivery to Your Door and Yard