Stabilization of a class of underactuated vehicles with uncertain measurements of the position tracking error is addressed. Nonlinear feedback laws ensuring semi-global stability for a large class of uncertainties on these measurements are derived based on properties of saturated controls. Practical relevance of the proposed results is illustrated by two application examples for Vertical TakeOff and Landing aerial vehicles equipped with a mono-camera sensor: point stabilization in front of a planar target and visual way-points navigation based on interpolation of homography measures.