A method for acquiring images of a photographic target from arbitrary perspectives with an unmanned aerial vehicle (UAV) equipped with at least one image acquisition device having a fixed acquisition direction with respect to the vehicle, said unmanned aerial vehicle (UAV) having automatic navigation means allowing to reach an arbitrary location and automatic attitude control means allowing to transiently reach an arbitrary orientation in space, said photographic target being outside the current field of view of the acquisition device while the UAV flies along its predefined flying path, this method comprising the steps of: - from a set of parameters pertaining to the desired photographic target, desired perspective and from the relative orientation of the image acquisition device with respect to the UAV, computing a target UAV position and an orientation in space required to acquire a desired slanted image, - navigating using the automatic navigation means to said target UAV position and - acquiring images with the image acquisition device, characterized in that it further comprises: - before acquiring images, temporarily modifying the attitude by modifying one of the pitch, roll or yaw angle of the UAV so as to define a curved path in order to modify the acquisition direction of the UAV to point toward the photographic target, - acquiring images along the curved path and when the acquisition direction points toward the photographic target with the desired perspective and - starting a recovery phase by controlling the UAV back to cruise attitude and navigate back along the predefined flying path, the method further comprising the steps of: - determining an anticipatory location AL placed on a line upstream between the target position and the photographic target, at a distance determined by the flight dynamics of the UAV, - flying first to said anticipatory location AL before heading to the target UAV position, - calculating the altitude change generated by the modification of the roll, yaw or pitch, and - shifting the anticipatory location AL vertically such as to compensate this altitude change. - from a set of parameters pertaining to the desired photographic target, desired perspective and from the relative orientation of the image acquisition device with respect to the UAV, computing a target UAV position and an orientation in space required to acquire a desired slanted image, - navigating using the automatic navigation means to said target UAV position and - acquiring images with the image acquisition device, - before acquiring images, temporarily modifying the attitude by modifying one of the pitch, roll or yaw angle of the UAV so as to define a curved path in order to modify the acquisition direction of the UAV to point toward the photographic target, - acquiring images along the curved path and when the acquisition direction points toward the photographic target with the desired perspective and - starting a recovery phase by controlling the UAV back to cruise attitude and navigate back along the predefined flying path, - determining an anticipatory location AL placed on a line upstream between the target position and the photographic target, at a distance determined by the flight dynamics of the UAV, - flying first to said anticipatory location AL before heading to the target UAV position, - calculating the altitude change generated by the modification of the roll, yaw or pitch, and - shifting the anticipatory location AL vertically such as to compensate this altitude change. <EOS>