My Holybro 500 v2 is equipped with a Luxonis OAK-D-Lite camera (depthAI) and a RPi4. A python artificial intelligence (AI) code on the RPi4 detects objects (f.i. persons) using mobilenet ssd. The area of the enclosing object rectangle estimates the distance of the object, while the center determines the yaw of the drone. 2 PID controllers determine the forward speed and yaw of the drone. Once the track switch is on, the drone is controlled in guided mode by the custom python code. This algorithm yields a satisfactory tracking behavior as shown in the video.