Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for drone base station detection. In some implementations, a drone including a camera that is configured to generate image data and one or more processors and one or more storage devices storing instructions that are operable. The instructions include receiving the image data from the camera, identifying at least four objects in the image data, determining a first distance between a first object and a second object, determining a second distance between a third object and a fourth object, determining a third distance between the second object and the third object, and based on the first distance, the second distance, and the third distance, determining a location of the drone.