Micro Aerial Vehicles (MAVs) have showcased their potential for enabling the next generation of inspection technologies as a sensor payload carrier operating at various levels of autonomy. Combining their ability to navigate in unstructured areas with the dexterity of robotic arms leads to a new era of Aerial Robotic Workers (ARWs) able to interact with the environment and as such address infrastructure maintenance tasks. The development of perception capabilities that guide the aerial platform at the desired regions of interest and perform the respective manipulation tasks is, among others, a fundamental step towards the envisioned goal. Thus, the aim of this Chapter is to discuss visual guidance systems to assist the aerial platform before applying any physical interaction.