4This paper presents a method for the navigation of drones in GPS-denied Environments based on vision processing. A camera is attached to the drone to fly in full conditions like GPS, video streaming, control waypoint, etc. Then, some information such as the image features and location of the drone is extracted and stored, which is used for the next flight with GPS-denied Environments. The results are shown that the drone positions could estimate with high accuracy.Index Terms4UAV, GPS-Denied, vision