The Computer Vision and Mapping aims to develop systems that enable an autonomous drone to identify, locate, and classify specific markers used to indicate payload delivery locations. The CVM ,team is responsible for creating algorithms for real-time marker detection, determining the markers' precise 3D positions, and correctly classifying their shapes, colors, and characters. Additionally, the team ensures seamless integration with the drone's navigation and payload delivery systems, as well as with the Autonomous Navigation Systems for obstacle avoidance. This involves implementing Obstacle Avoidance algorithms to detect and avoid other drones and obstacles in the environment. Through thorough testing, we ensure accuracy, reliability, and safety in various environmental conditions, while also optimizing for suitable computational power.