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MAV and a ground station. Such off-board localization techniques often  lack the versatility to function in changing environments, though, due  to factors---such as the bandwidth, delay, or noise of the wireless  connection---interfering with the system's reliability.In the approach proposed in this thesis, computational power will be  shifted to an offline training phase to achieve high-speed during live  operation. In contrast to visual SLAM frameworks, this project considers  scenarios in which the environment is known beforehand or can be even  actively modified. The environment is non-dynamic and planar, therefore, the UAV will make use of texture on the bottom or ceiling of the environment.