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This thesis presented a novel approach for lightweight indoor  localization of MAVs. We pursued an onboard design without the need of  an additional ground station to foster flexibility and autonomy. real-world use.  The conducted on-ground and in-flight experiments underline thereal-world  applicability of the system. Promising results were obtained for position estimates and accurate landing in the indoor environment. The approach is based on three pillars that we identified for indoor  localization for MAVs. The first pillar shifts computational effort