Qualcomm recently published a video of the project that I worked on during my internship at Qualcomm Research. This video shows the capabilities that we integrated into a small drone using a smartphone chipset enabling full onboard vision based autonomy. This is a big step forward toward the future of intelligent robots. The drone is able to map its environment using stereo vision and localize using a downward facing camera which tracks its motion. This highly intelligent drone allows fully autonomous missions in cluttered environments.