One of the significant challenges that arise when working with autonomous drone systems is the dynamic nature of the environment. When the environment is not entirely static, and other objects such as the goal object are moving, it requires the implementation of different algorithms for various tasks such as object detection, state estimation, and trajectory planning. This is a complex task that requires advanced techniques and algorithms. Several solutions are available for state estimation of moving objects in dynamic environments, one of which is using Visual-Inertial Odometry (VIO) cameras. They work by using multiple cameras to capture images of markers placed on the object of interest.