A processing system including at least one processor may capture at least one image via at least one imaging sensor of an uncrewed aerial vehicle in a shared environment, detect a window within the at least one image, determine a location of the window in the shared environment, based upon a position of the uncrewed aerial vehicle and a distance between the uncrewed aerial vehicle and at least a portion of the window that is calculated from the at least one image, and record the location of the window in a map of the shared environment as a prohibited imaging zone.