What about DroNet?

[albydnc]

Hi,
Your work is what I was looking for, really neat project. I was wondering, do you know DroNet? Have you tried to port it?

[laurentopia]

When I made this I saw Dronet and their forest hiking bot, my implementation is based on their work of funneling a bitmap into 4 weights, but using mobilenet because it was readily available on the k210.
You should totally port theirs, it's battle tested.