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The developed algorithms set the stage for absolute global  localization in various GPS-denied environments, such as homes, offices, or factory buildings. While the used platform for this project was the Parrot Bebop Drone, the characteristics of the proposed system generalize to smaller MAVs in a flexible and innovative way. We hope that our indoor localization approach will pave the way for various applications, such as including  delivery, search and rescue, or surveillance to support human operators in everyday life.