  Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many
civilian applications, and the fa\c{c}ade inspection is among the most
promising ones. In this paper, we focus on enabling the autonomous perception
and control of a small UAV for a fa\c{c}ade inspection task. Specifically, we
consider the perception as a planar object pose estimation problem by
simplifying the building structure as concatenation of planes, and the control
as an optimal reference tracking control problem. First, a vision based
adaptive observer is proposed which can realize stable plane pose estimation
under very mild observation conditions. Second, a model predictive controller
is designed to achieve stable tracking and smooth transition in a multi-plane
scenario, while the persistent excitation (PE) condition of the observer and
the maneuver constraints of the UAV are satisfied. The proposed autonomous
plane pose estimation and plane tracking methods are tested in both simulation
and practical building fas\c{c}ade inspection scenarios, which demonstrate
their effectiveness and practicability.
