  Reliable localization is one of the most important parts of an MAV system.
Localization in an indoor GPS-denied environment is a relatively difficult
problem. Current vision based algorithms track optical features to calculate
odometry. We present a novel localization method which can be applied in an
environment having orthogonal sets of equally spaced lines to form a grid. With
the help of a monocular camera and using the properties of the grid-lines
below, the MAV is localized inside each sub-cell of the grid and consequently
over the entire grid for a relative localization over the grid.
  We demonstrate the effectiveness of our system onboard a customized MAV
platform. The experimental results show that our method provides accurate 5-DoF
localization over grid lines and it can be performed in real-time.
