So I used a stereo camera, a TX2 on top of Pixhawk to achieve fully autonomous drone flight and collision avoidance.

In case someone is also interested, here is how I have done it:https://github.com/generalized-intelligence/GAAS

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Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

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