A method for guiding an unmanned aerial vehicle , UAV, from an initial position to a target position using a projection of a laser beam on a target , the method comprising: determining , using an orientation of a laser pointer that projects the laser beam , a set of waypoints from an initial position to a position proximate to the target position based on a geometrical projection ( N ) of a vector of the UAV initial position onto a direction ( L ) of the laser beam pointing at the target , wherein the vector of the UAV initial position is defined in a reference frame of the laser pointer , and wherein the laser pointer is external to the UAV , and wherein the laser pointer determines the set of waypoints and provides the determined set of waypoints directly or via a base station to the UAV , or the base station receives from the laser pointer information and determines the set of waypoints and provides the determined set of waypoints to the UAV , or alternatively or additionally information is provided by the laser pointer to the UAV , which determines the set of waypoints; guiding the UAV 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 on the target by an optical system of the UAV , the UAV from the position proximate to the target position using the optical system of the UAV , characterized in that the initial position of the determined set of waypoints is offset by an occlusion offset (r) from the laser beam , and the determined set of waypoints define a path that is offset from the laser beam by the occlusion offset (r) to prevent the UAV from obstructing the laser beam . determining , using an orientation of a laser pointer that projects the laser beam , a set of waypoints from an initial position to a position proximate to the target position based on a geometrical projection ( N ) of a vector of the UAV initial position onto a direction ( L ) of the laser beam pointing at the target , wherein the vector of the UAV initial position is defined in a reference frame of the laser pointer , and wherein the laser pointer is external to the UAV , and wherein the laser pointer determines the set of waypoints and provides the determined set of waypoints directly or via a base station to the UAV , or the base station receives from the laser pointer information and determines the set of waypoints and provides the determined set of waypoints to the UAV , or alternatively or additionally information is provided by the laser pointer to the UAV , which determines the set of waypoints; the laser pointer determines the set of waypoints and provides the determined set of waypoints directly or via a base station to the UAV , or the base station receives from the laser pointer information and determines the set of waypoints and provides the determined set of waypoints to the UAV , or alternatively or additionally information is provided by the laser pointer to the UAV , which determines the set of waypoints; guiding the UAV 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 on the target by an optical system of the UAV , the UAV from the position proximate to the target position using the optical system of the UAV , characterized in that the initial position of the determined set of waypoints is offset by an occlusion offset (r) from the laser beam , and the determined set of waypoints define a path that is offset from the laser beam by the occlusion offset (r) to prevent the UAV from obstructing the laser beam . <EOS>