This is an interesting field to explore, as there is still a lot of work to get these device easy to integrate with ArduPilot.
You can take a look at my experiments
Red Balloon detection and tracking using OpenMV QuadCopter Object Tracking on a budget
Precision Landing using the JEVOIS and ARUCO code as demonstrated here: https://www.youtube.com/watch?v=9PHOhTJ3eSI&t=1s
The RPI zero Python Script is here: https://github.com/patrickpoirier51/JeVois--Python-Tracking
Getting these scripts into OpenMV and Jevois , hence not having to use a Companion Computer would be a great start. On a second phase , You could certainly implement more advanced detections based on simple Neural Networks that are now available on both platforms, to control a basic Visual Follow-me solution.
OpenMV Cam H7 supports loadable neural networks and is capable of running simple CNNs like LENET-6 for number detection. Neural network support is provided by ARM’s new [CMSIS-NN library]
Jevois TensorFlow