  The evolution of AI and digital signal processing technologies, combined with
affordable energy-efficient processors, has propelled the development of both
hardware and software for drone applications. Nano-drones, which fit into the
palm of the hand, are suitable for indoor environments and safe for human
interaction; however, they often fail to deliver the required performance for
complex tasks due to the lack of hardware providing sufficient sensing and
computing performance. Addressing this gap, we present the GAP9Shield, a
nano-drone-compatible module powered by the GAP9, a 150GOPS-capable SoC. The
system also includes a 5MP OV5647 camera for high-definition imaging, a
WiFi-BLE NINA module, and a 5D VL53L1-based ranging subsystem, which enhances
obstacle avoidance capabilities. In comparison with similarly targeted
state-of-the-art systems, GAP9Shield provides a 20% higher sample rate (RGB
images) while offering a 20% weight reduction. In this paper, we also highlight
the energy efficiency and processing power capabilities of GAP9 for object
detection (YOLO), localization, and mapping, which can run within a power
envelope of below 100 mW and at low latency (as 17 ms for object detection),
highlighting the transformative potential of GAP9 for the new generation of
nano-drone applications.
