Abstract: A method and system for controlling the flight path of an aerial vehicle measures a distance between the aerial vehicle in flight and a plurality of points to obtain a point cloud of point position data. A first contour line corresponding to the topographical ground and a second contour line corresponding to a top line of objects on the ground are segmented from the point cloud. Data representing the first contour line and/or data representing the second contour line is processed in a control unit of the aerial vehicle for determining a control signal for the aerial vehicle. The flight path of the aerial vehicle includes a first section in which the vertical position of the aerial vehicle is determined relative to the first contour line, and a second section in which the vertical position of the aerial vehicle is determined relative to the second contour line.