Because of their excessive weight, currently available oblique cameras are not suitable for use aboard a low-altitude unmanned aerial vehicle (UAV) with a light load. In this study, a texture camera system for use aboard a UAV is designed, and it can simultaneously obtain a single vertical image and four oblique images of an object. The images acquired by this selfcalibrating camera system can be used to perform traditional products on a large scale. Additionally, they can be used to accurately determine the orientation elements of each individual camera, which are essential for three-dimensional (3D) modeling. Finally, typical engineering data is used to verify the given theoretical analysis. We conclude that the mosaic images obtained by the proposed texture camera system aboard the UAV meet the precision requirements of an aerial survey topographic map with a scale of 1:500 and the building facade textures are complete and clear. Using this texture camera system, 3D building models with a high mapping accuracy and realistic textures can be established.