I am working on a vision-based localization project in which I have to estimate the position of an object using a webcam and then use that localization information to control an AR.Drone 2.0. For AR Drone ROS already have an ardroneautonomy package ( http://wiki.ros.org/ardroneautonomy ). But So far I haven't been able to find a camera-based localization package. I have tried this package ( https://github.com/lrse/whycon ) which is excellent but still in development stages. Is there any ROS package which can solve this problem?