In recent years, unmanned aerial vehicles(UAVs) have been used for numerous applications such as defence industry, urban planning, agriculture, emergency response and disaster management. Like most of the other widely used machines, increasing UAVs autonomy and independent decision making is literally a must in order to improve eciency, safety and accuracy of the devices. A UAVs autonomy directly a ected by its ability to model the outer world which is now more successful with the improvements of the computer vision.