If you're in the US: Sec. 91.119
Minimum safe altitudes: (a) Anywhere. An altitude allowing, if power unit fails, an emergency landing without undue hazard to persons or property on the surface.
(b) Over congested areas. Over any congested area of a city, town, or settlement, or over any open air assembly of persons, an altitude of 1,000' above the highest obstacle within a horizontal radius of 2,000' of the aircraft.
(c) Over other than congested areas. An altitude of 500' above the surface, except over open water or sparsely populated areas. In those cases, the aircraft may not be operated closer than 500' to any person, vessel, vehicle, or structure.
If you're interested in taking a picture of you're house, for
intance, just call the closest controlling facility(tower, ARTCC, FSS etc.). As long as it doesn't interfere with any TFR's or airspace they're usually pretty acomodating.
I used to fly out of KFLL(class C airspace) and tell them I had to take pictures downtown. I would then circle around my mom's house for 10 minutes, and wave hello!