Urban Slum settlements continue to occur as one of the impacts of urbanization so that it becomes one of the main problems and focuses on city planners. Planning and structuring slum settlements require an up-to-date base map as an accurate source that describes the slum's local situation of the slum. Unmanned Aerial Vehicle (UAV) can provide it. This study used UAV to extract physical characteristics of urban slum settlements located in the Cibogor area within the Bogor Tengah sub-district near Cibalok River banks Bogor-Jakarta railways. The point dense cloud process performed to extract elevation consists of Digital Terrain Model (DTM) and Digital Surface Model (DSM). Both elevations were used to generate normalized DSM (nDSM) and integrated with Multi-Resolution Segmentation (MRS) to provide the first classification stage. RGB indexes are computed to provide the second classification stage from the images. Physical characteristics were successfully identified to classify slum settlements and distinguish from formal settlements. The resulted map from OBIA has shown valuable spatial information of slum area to support Development Goals (SDGs), precisely at point 11 regarding Sustainable Cities and Communities, to improve the quality of slum settlements. © Published under licence by IOP Publishing Ltd.