  In this work, we present a system that enables delivery drones to
autonomously navigate and deliver packages at various locations around the
house. The objective of this to reach a specific location in the house where
the recipient wants the package to be delivered by the drone without the use of
any external markers as currently used. This work is motivated by the recent
advancements in semantic segmentation using deep learning that can potentially
replace the specialized marker used by the current delivery drone for
identifying the place where it needs to deliver the package. The proposed
system is more natural in the sense that it takes an instruction input on where
to deliver the package similar to the instructions provided to the human
couriers. We propose a semantic segmentation-based lowering location estimator
that enables the drone to find a safe spot around the house to lower from
higher altitudes. Following this, we propose a strategy for visually routing
the drone from the location where it lowered to a specific location like the
front door of the house where it needs to deliver the package. We extensively
evaluate the proposed approach in a simulated environment that demonstrates
that the delivery drone can deliver the package to the front door and also to
other specified locations around the house.
