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Deployment of autonomous Unmanned Aerial Vehicles (UAV) in various sectors such as disaster hit environments, industries, agriculture, etc. , not only improves productivity but also reduces human intervention resulting in sustainable benefits. In this regard, we present a model for autonomous navigation and collision avoidance of UAVs in GPS-denied corridor environments. In the first stage, we suggest a fast procedure to estimate the set of parallel lines whose intersection would yield the position of the vanishing point (VP) inside the corridor. A suitable measure is then formulated based on the position of VP on the intersecting lines in reference to any of the image boundary axes. The knowledge of VP location alongside the formulated mechanism govern the necessary set of commands to safely navigate the UAV avoiding any collision with the side walls. Furthermore, the relative Euclidean distance scale …