DLL: A map-based localization framework for aerial robots

To enable the efficient operation of unmanned aerial vehicles (UAVs) in instances where a global localization system (GPS) or an external positioning device (e.g., a laser reflector) is unavailable, researchers must develop techniques that automatically estimate a robot's pose. If the environment in which a drone operates does not change very often and one is able to build a 3D map of this environment, map-based robot localization techniques can be fairly effective.