As part of an Air Force funded project, Centeye has prototyped a vision based system to allow small drones to both hover in place without GPS and visually detect nearby objects to avoid collisions. The video below shows sample flights in an indoor residence, taken in November 2015. A more detailed write-up is available on the site of our good friends at Tandem NSI. A sample video of flights is below. The video contains annotations which are best viewed through a laptop or desktop computer.