A method for guiding an unmanned aerial vehicle (205, 605, 1205), UAV, from an initial position to a target position using a projection of a laser beam (215, 1125) on a target, the method comprising: determining, using an orientation of a laser pointer (210, 305, 1230) that projects the laser beam (215, 1225), a set of waypoints from an initial position to a position proximate to the target position based on a geometrical projection of a vector of the UAV (205, 605, 1205) initial position onto a direction of the laser beam (215, 1225) pointing at the target, wherein the vector of the UAV (205, 605, 1205) initial position is defined in a reference frame of the laser pointer (210, 305, 1230), and wherein the laser pointer (210, 305, 1230) is external to the UAV (205, 605, 1205), and wherein the laser pointer (210, 305, 1230) determines the set of waypoints and provides the determined set of waypoints directly or via a base station (225, 905) to the UAV (205, 605, 1205), or the base station (225, 905) receives from the laser pointer (210, 305, 1230) information and determines the set of waypoints and provides the determined set of waypoints to the UAV (205, 605, 1205), or alternatively or additionally information is provided by the laser pointer (210, 305, 1230) to the UAV (205, 605, 1205), which determines the set of waypoints; guiding the UAV (205, 605, 1205) along the set of determined waypoints to the position proximate to the target position; and characterized by guiding, responsive to detection of a dot of the laser beam (215, 1225) on the target by an optical system of the UAV (205, 605, 1205), the UAV (205, 605, 1205) from the position proximate to the target position using the optical system of the UAV (205, 605, 1205), characterized in that the initial position of the determined set of waypoints is offset by an occlusion offset (r) from the laser beam (215, 1225), and the determined set of waypoints define a path that is offset from the laser beam (215, 1225) by the occlusion offset (r) to prevent the UAV (205, 605, 1205) from obstructing the laser beam (215, 1225). determining, using an orientation of a laser pointer (210, 305, 1230) that projects the laser beam (215, 1225), a set of waypoints from an initial position to a position proximate to the target position based on a geometrical projection of a vector of the UAV (205, 605, 1205) initial position onto a direction of the laser beam (215, 1225) pointing at the target, wherein the vector of the UAV (205, 605, 1205) initial position is defined in a reference frame of the laser pointer (210, 305, 1230), and wherein the laser pointer (210, 305, 1230) is external to the UAV (205, 605, 1205), and wherein the laser pointer (210, 305, 1230) determines the set of waypoints and provides the determined set of waypoints directly or via a base station (225, 905) to the UAV (205, 605, 1205), or the base station (225, 905) receives from the laser pointer (210, 305, 1230) information and determines the set of waypoints and provides the determined set of waypoints to the UAV (205, 605, 1205), or alternatively or additionally information is provided by the laser pointer (210, 305, 1230) to the UAV (205, 605, 1205), which determines the set of waypoints; the laser pointer (210, 305, 1230) determines the set of waypoints and provides the determined set of waypoints directly or via a base station (225, 905) to the UAV (205, 605, 1205), or the base station (225, 905) receives from the laser pointer (210, 305, 1230) information and determines the set of waypoints and provides the determined set of waypoints to the UAV (205, 605, 1205), or alternatively or additionally information is provided by the laser pointer (210, 305, 1230) to the UAV (205, 605, 1205), which determines the set of waypoints; guiding the UAV (205, 605, 1205) along the set of determined waypoints to the position proximate to the target position; and characterized by guiding, responsive to detection of a dot of the laser beam (215, 1225) on the target by an optical system of the UAV (205, 605, 1205), the UAV (205, 605, 1205) from the position proximate to the target position using the optical system of the UAV (205, 605, 1205), characterized in that the initial position of the determined set of waypoints is offset by an occlusion offset (r) from the laser beam (215, 1225), and the determined set of waypoints define a path that is offset from the laser beam (215, 1225) by the occlusion offset (r) to prevent the UAV (205, 605, 1205) from obstructing the laser beam (215, 1225).