This　paper　presents　an　intuitive　end-to-end　interaction　system　between　a　human　and　a　hexacopter　Unmanned　Aerial　Vehicle　(UAV)　for　field　exploration　in　which　the　UAV　can　be　commanded　by　natural　human　poses.　Moreover,　LEDs　installed　on　the　UAV　are　used　to　communicate　the　state　and　intents　of　the　UAV　to　the　human　as　feedback　throughout　the　interaction.　A　real　time　multi-human　pose　estimation　system　is　built　that　can　perform　with　low　latency　while　maintaining　competitive　performance.　The　UAV　is　equipped　with　a　robotic　arm,　kinematic　and　dynamic　attitude　models　for　which　are　provided　by　introducing　the　center　of　gravity　(COG)　of　the　vehicle.　In　addition,　a　super-twisting　extended　state　observer　(STESO)-based　back-stepping　controller　(BSC)　is　constructed　to　estimate　and　attenuate　complex　disturbances　in　the　attitude　control　system　of　the　UAV,　such　as　wind　gusts,　model　uncertainties,　etc.　A　stability　analysis　for　the　entire　control　system　is　also　presented　based　on　the　Lyapunov　stability　theory.　The　pose　estimation　system　is　integrated　with　the　proposed　intelligent　control　architecture　to　command　the　UAV　to　execute　an　exploration　task　stably.　Additionally,　all　the　components　of　this　interaction　system　are　described.　Several　simulations　and　experiments　have　been　conducted　to　demonstrate　the　effectiveness　of　the　whole　system　and　its　individual　components.