An autonomous flyer photographer

In this paper we explore the combination of a latest generation mobile device and a micro quadrotor platform to perform indoor autonomous navigation for the purpose of autonomous photography. We use the Yellowstone tablet from Google's Tango project [1], equipped with onboard, fully integrated sensing platform and with significant computational capability. To the best of our knowledge we are the first to exploit the Google's Tango tablet as source of pose estimate to control the quadrotor's motion. Using the tablet's onboard camera the system is able to detect people and generate a desired pose that the quadrotor will have to reach in order to take a well framed picture of the detected subject. The experimental results and live video demonstrate the capabilities of the autonomous flying robot photographer using the system described throughout this manuscript.