This Chapter presents vision-based perception modules for an Aerial Robotic Worker, as a basic component for the autonomy of the platform. Generally, visual information could be involved in various levels of autonomy, from object tracking to workspace mapping and motion estimation. The major challenge today is the development of autonomously operating aerial agents capable of completing missions independently of human interaction. To this extent, onboard perception should be developed for the aerial platform to perceive its surroundings and estimate its motion, enhancing the overall navigation and guidance skills.