Disclosed are various embodiments involving use of a multi-scale fiducial by an autonomously controlled aerial vehicle. A first image at a first location is captured, and a first fiducial at a first scale of a multi-scale fiducial is recognized within the first image. The autonomously controlled aerial vehicle is piloted relative to the multi-scale fiducial based at least in part on information contained within the first fiducial. A second image at a second location is captured, and a second fiducial at a second scale of the multi-scale fiducial is recognized within the second image. An action is then performed based at least in part on information contained within the second fiducial.