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Recently, Unmanned Aerial Vehicles (UAVs) have attracted the society and researchers due to the capability to perform in economic, scientific and emergency scenarios, and are being employed in large number of applications especially during the hostile environments. They can operate autonomously for both indoor and outdoor applications mainly including search and rescue, manufacturing, forest fire tracking, remote sensing etc. For both environments, precise localization plays a critical role indoi:10.12928/telkomnika.v16i1.6814 fatcat:to5a5xqhvbdubjbgx5lr6libcu