It's getting easier and easier to make such a drone. I mean it's within the reach of a single developer with $1000 budget. When Skydio came out it was some sort of break through (if we forget DJI and Autel), but now it's not that impressive, sort of normal. There are many models and libraries. NVidia has the whole zoo of them optimized for small devices. For free. I'm pretty sure even my level is enough to make a flying obstacles avoiding drone. I would use of the shelf hardware, of course. Objects tracking, waypoints isn't a problem. BTW, this would make a nice open source project. The problem is, in wrong hands it can do a lot of damage.