Help 3D navigation using a known map

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Hello, I'm using rtab map and a kinect to generate a map of a corridor. I was wondering if it was possible to fly a UAV to a known point within the generated map.

My project statement requires me to:

• Manually map and generate a pointcloud of an environment.
  • Using the generated map, fly a quadcopter/ UAV autonomously to a point within the generated map.

I'm able to use rtab map to generate a map of an environment however, I'm not sure where to start for the second point. I can't seem to find anything relating to the second point.. Could someone please point me in the right direction.