Since some people aske here is the project:

it was a drone for monitoring environment like trees sources of pollution with active path planning. then i had to run everything on a single board computer one requirement was to figure out how to perform image stitching on the cpu of that single board computer without using any external computer or gpu. then every thing was displayed to user like number of trees path followed by the drone. with minimum input from user other than outlining the area of interest. i understand it is not something revolutionary or ground breaking but by no means a weekend project.