In the rapidly evolving industrial landscape, Unmanned Aerial Vehicles (UAVs) have emerged as a pivotal component in enhancing operational efficiency and safety. These autonomous systems are particularly crucial in environments where direct human intervention is challenging or risky. The ultimate goal of this project is to assist human operators in specific missions by collecting and processing data. The drone should be able to provide stable flight in GNSS (Global Navigation Satellite System) denied environments exploiting the visual odometry algorithms and specific sensors. This thesis is a part of the FIXIT project, an initiative by the Competence Industry of Manufacturing 4.0 in Turin, Italy.