A path selection device for controlling return flight of an unmanned aerial vehicle, the path selection device being located on the unmanned aerial vehicle, characterized in that the path selection device comprises: a landing position information receiving portion that receives from an operating apparatus a landing position of the unmanned aerial vehicle; a vehicle body position information receiving portion that receives a current position of the unmanned aerial vehicle determined by a GNSS position determining device of the unmanned aerial vehicle; a scanned data receiving portion capable of receiving three-dimensional scanned data on a scanned target acquired by scanning by a laser scanner comprised in the unmanned aerial vehicle; a scan map creating portion that creates a three-dimensional map based on the three-dimensional scanned data received by the scanned data receiving portion; a no-fly place extracting portion that extracts a no-fly place forming a flight obstacle in the three-dimensional map; and a path selecting portion that selects a determined flight path, that is one from flight paths which are determined according to the three-dimensional map and the no-fly place and which are from the current position to the landing position of the unmanned aerial vehicle and bypass the no-fly place, as a return flight path of the unmanned aerial vehicle, the determined flight path comprises: a flight path not passing the no-fly place, and a flight path passing at least one no-fly place but having a current altitude higher than the altitude of the at least one no-fly place, wherein the scan map creating portion creates the three-dimensional map so that a place whose the three-dimensional scanned data is not obtained by the laser scanner provided in the unmanned aerial vehicle is formed in a rectangular parallelepiped on the three-dimensional map; and the no-fly place extracting portion further extracts, as the no-fly place, the place formed on the three-dimensional map in a rectangular parallelepiped whose the three-dimensional scanned data is not obtained by the laser scanner provided in the unmanned aerial vehicle, and wherein the path selection device further comprises at least one of: a flight distance calculating portion capable of calculating flight distances if the unmanned aerial vehicle flies on the determined flight paths, and a battery consumption amount calculating portion capable of calculating a battery consumption amount if the unmanned aerial vehicle flies on the determined flight paths, and wherein the path selecting portion selects a return flight path of the unmanned aerial vehicle using at least one of the flight distance and the battery consumption amount as a path selection factor. a landing position information receiving portion that receives from an operating apparatus a landing position of the unmanned aerial vehicle; a vehicle body position information receiving portion that receives a current position of the unmanned aerial vehicle determined by a GNSS position determining device of the unmanned aerial vehicle; a scanned data receiving portion capable of receiving three-dimensional scanned data on a scanned target acquired by scanning by a laser scanner comprised in the unmanned aerial vehicle; a scan map creating portion that creates a three-dimensional map based on the three-dimensional scanned data received by the scanned data receiving portion; a no-fly place extracting portion that extracts a no-fly place forming a flight obstacle in the three-dimensional map; and a path selecting portion that selects a determined flight path, that is one from flight paths which are determined according to the three-dimensional map and the no-fly place and which are from the current position to the landing position of the unmanned aerial vehicle and bypass the no-fly place, as a return flight path of the unmanned aerial vehicle, the determined flight path comprises: a flight path not passing the no-fly place, and a flight path passing at least one no-fly place but having a current altitude higher than the altitude of the at least one no-fly place, wherein the scan map creating portion creates the three-dimensional map so that a place whose the three-dimensional scanned data is not obtained by the laser scanner provided in the unmanned aerial vehicle is formed in a rectangular parallelepiped on the three-dimensional map; and the no-fly place extracting portion further extracts, as the no-fly place, the place formed on the three-dimensional map in a rectangular parallelepiped whose the three-dimensional scanned data is not obtained by the laser scanner provided in the unmanned aerial vehicle, and wherein the path selection device further comprises at least one of: a flight distance calculating portion capable of calculating flight distances if the unmanned aerial vehicle flies on the determined flight paths, and a battery consumption amount calculating portion capable of calculating a battery consumption amount if the unmanned aerial vehicle flies on the determined flight paths, and wherein the path selecting portion selects a return flight path of the unmanned aerial vehicle using at least one of the flight distance and the battery consumption amount as a path selection factor.