The goal of this project is to develop software modules for an autonomous drone navigation system. Our modules determine the location of the drone in a flight space relative to a map of the space, and detect obstacles and their positions within the environment. These modules function using only inputs from a stereo camera and a given map of the flight space. These modules are intended to be combined and extended for a complete autonomous drone navigation system. The application for this system is in a WiFi and GPS denied indoor environment.