We propose a vision based position estimation algorithm to provide some level of autonomy for a quadrotor unmanned aerial vehicle (UAV). Our approach estimates the helicopter X-Y-Z position with respect to a ground landmark. This technique allows us to measure the position variables that are difficult to compute when using conventional navigation systems (for example, Global Positioning System, GPS) and inertial sensors in urban environment or indoor. Our method estimates the position and measures translational speed in a local frame. The control strategy is based on a full state feedback method. The effectiveness of the vision based control system is validated by experimental results.